Object detection device

An object detection device comprising:

• a transmitter configured to transmit a transmission wave;
• a receiver configured to receive a reception wave which is the transmission wave returned by being reflected by an object;
• a CFAR processor configured to acquire a CFAR signal at a detection timing by CFAR processing based on a value of a first processing target signal based on a reception wave received at the detection timing and an average value of values of second processing target signals based on reception waves received in predetermined sections before and after the detection timing;
• a detection processor configured to detect information related to the object based on a comparison between the CFAR signal and a threshold;
• and
• a threshold processor configured to, in a case in which the detection timing belongs to a predetermined first section, set the threshold as a first threshold calculated in consideration of a detection result of a temperature sensor that detects a temperature of a medium through which the transmission wave and the reception wave propagate, in a case in which the detection timing belongs to a predetermined second section different from the first section, set the threshold as a second threshold calculated without considering the detection result of the temperature sensor, and in a case in which the detection timing belongs to a predetermined third section, set the threshold as the first threshold calculated in consideration of a detection result of the temperature sensor,
• wherein the predetermined first section and the third predetermined sections are determined in advance in accordance with an installation position and an installation attitude of the transceiver as sections in which an expected value of clutter based on the reception wave obtained by a reflection from a non-detection target as the object that is not a target for detecting the information related to the object is equal to or less than a predetermined value,
• the predetermined second section is determined in advance in accordance with the installation position and the installation attitude of the transceiver as a section in which the expected value of the clutter is larger than the predetermined value, and
• the second section is between the first section and the third section with respect to the detection timing.