Object detection device and object detection method

A target detection device including a processor configured to:

• receive a plurality of pieces of output data from a plurality of types of sensors and detect a target based on the plurality of pieces of output data;
• estimate a false detection of the target based on a detection result of the target after fusion, the false detection being determined using an average or statistical process of false detection estimation results over a plurality of time steps;
• and
• estimate a predetermined reliability of a sensor in a predetermined scene, the predetermined reliability being defined in advance as a distance-dependent function, based on the estimation result of the false detection,
• wherein the target is detected based on the estimated reliability based on the predetermined reliability of the sensor, the false detection estimation results, and the output data.

A target detection method that detects a target based on a plurality of observation values output from a plurality of types of sensors, the target detection method comprising:

• processing fusion and outputting a prediction value of the target after fusion;
• estimating a false detection for each target based on the observation value and the prediction value and outputting a false detection estimation result;
• calculating a false detection rate for each sensor based on the false detection estimation result, the false detection being determined using an average or statistical process of false detection estimation results over a plurality of time steps;
• and
• correcting a predetermined reliability of the sensor, the predetermined reliability being defined in advance as a distance-dependent function, by applying a correction based on the averaged false detection rate and outputting the corrected reliability,
• wherein the fusion processing step processes the fusion based on the prediction value, the false detection estimation result, and the corrected reliability.