Object detection device

An object detection device comprising:

• a transmitting unit configured to transmit a transmission wave in which a plurality of ultrasonic waves of different frequencies are multiplexed;
• a receiving unit configured to receive a reflected wave produced by reflection of the transmission wave from an object;
• a frequency analysis unit configured to generate reflected wave frequency information indicating a plurality of frequency components contained in the reflected wave, and separated echo information indicating temporal changes in amplitude value for each of the plurality of frequency components contained in the reflected wave;
• a distance information generation unit configured to generate distance information about a distance to the object, based on the separated echo information;
• a Doppler detection unit configured to calculate a Doppler frequency, based on the reflected wave frequency information, transmission wave frequency information indicating a plurality of frequency components contained in the transmission wave, and frequency interval information indicating an interval between the plurality of frequency components contained in the transmission wave;
• and
• a correction unit configured to correct the distance information, based on the Doppler frequency.