Object detection apparatus

A target detection apparatus, comprising:

• a target detection section configured to detect a target in a traveling direction of a vehicle from a detection result of a radar sensor that, at every measurement cycle set in advance, sends and receives a radar wave and detects a position and a speed of a reflection point where the radar wave is reflected;
• a following section configured to follow an objective target that is a target detected over the plurality of measurement cycles by the target detection section;
• a reception tendency determination section configured to determine a tendency of received electrical power of a reflected wave from the objective target relative to a distance from the vehicle to the objective target on the basis of a result of following the objective target by the following section;
• and
• a target determination section configured to determine, when the reception tendency determination section determines that the received electrical power has a tendency to be constant regardless of the distance to the objective target, the objective target as a high target allowing the vehicle to pass under.