Object shape detection apparatus, vehicle including the same, and object shape detection method

An object shape detection apparatus comprising:

• a transmitter configured to emit, as a continuous wave, horizontally polarized and vertically polarized wave components of an electromagnetic wave subjected to frequency modulation;
• a receiver configured to receive, with respect to individual frequencies, horizontally polarized and vertically polarized wave components of a reflected wave, the reflected wave being a reflection of the electromagnetic wave from an object after the electromagnetic wave is emitted by the transmitter;
• at least one circuit or processor configured to compare, with respect to the individual frequencies, an intensity of the horizontally polarized wave component of the reflected wave to an intensity of the vertically polarized wave component of the reflected wave;
• and
• a variable narrow-band rejection filter configured to remove a frequency of the reflected wave at which there is a difference, that exceeds a predetermined threshold, between the intensity of the horizontally polarized wave component and the intensity of the vertically polarized wave component,
• wherein the at least one circuit or processor is further configured to:
• determine a raised portion of the object based on a selected reflected wave that passed through the variable narrow-band rejection filter, and for which there is no difference between the intensity of the horizontally polarized wave component and the intensity of the vertically polarized wave component,
• measure a distance to the raised portion based on a frequency of the selected reflected wave used for detecting the raised portion, and
• determine a position of the raised portion.

An object shape detection method comprising:

• emitting horizontally polarized and vertically polarized wave components of an electromagnetic wave;
• receiving horizontally polarized and vertically polarized wave components of a reflected wave, the reflected wave being a reflection of the electromagnetic wave from an object after the electromagnetic wave is emitted by the transmitter;
• comparing an intensity of the horizontally polarized wave component of the reflected wave to an intensity of the vertically polarized wave component of the reflected wave;
• and
• determining a shape of a raised portion on a surface of the object or a shape of a depressed portion on a surface of the object based on the compared intensities.