Object detection device

An object detection device comprising:

• a first sensor configured to transmit and receive an exploration wave to detect a peripheral object;
• a second sensor spaced apart from the first sensor by a predetermined distance and configured to transmit and receive an exploration wave to detect a peripheral object;
• and
• circuitry configured to determine a position of an object based on reception results of the first sensor and the second sensor, wherein
• the circuitry is configured to
• calculate a first point based on a first exploration wave transmitted from the first sensor and received primarily by the first sensor and a second exploration wave transmitted from the first sensor and received primarily by the second sensor,
• calculate a second point based on a third exploration wave transmitted from the second sensor and received primarily by the second sensor and a fourth exploration wave transmitted from the second sensor and received primarily by the first sensor,
• determine that the object exists on a line segment interconnecting the first point and the second point when a distance between the first point and the second point is less than a predetermined value, and
• determine that the object exists on the line segment interconnecting the first point and the second point and line segments obtained by extending both ends of the line segment when the distance between the first point and the second point is equal to or greater than the predetermined value.