Target detection device

A target detection device mounted in a vehicle, the target detection device comprising:

• a radar specification unit that specifies, as radar target position information, a radar detection point or a radar detection region of a radar detection target detected on the basis of detection information provided by a radar, the radar detection point being a detection point representing a position of the radar detection target relative to a base point of the vehicle on an XY-plane with an X-axis representing a vehicle width direction of the vehicle and a Y-axis representing a vehicle length direction of the vehicle, the radar detection region including the radar detection point;
• an image specification unit that specifies, as image target position information, an image detection region of an image detection target detected on the basis of a captured image provided by an imaging device, the image detection region being a region representing a position of the image detection target relative to the base point on the XY-plane;
• and
• a same target determination unit that determines that the radar detection target and the image detection target are the same target on condition that there is an overlapping part on the XY-plane between the position indicated by the radar target position information and the position indicated by the image target position information, wherein
• the image specification unit constructs the image detection region in a bearing range determined on the basis of bearings from two X-directional ends of the image detection target to the base point in the captured image, and
• the same target determination unit expands an angular width of the bearing range in which the image detection region is constructed in both directions by a second expected error that is an expected margin of error, and performs same target determination on the basis of the image detection region expanded and the position indicated by the radar target position information.