Object detection apparatus

An object detection apparatus that detects an object, the object detection apparatus comprising:

• a reception unit that acquires a reception signal corresponding to a reflected wave from the object of a transmission wave that is an ultrasonic wave;
• and
• an information processing unit that acquires object information related to a shape of the object from a learning model by inputting a feature quantity and other measurement information of a waveform of the reception signal to the learned learning model in which machine learning to estimate the shape of an object has been performed, wherein
• the learning model includes
• a feature extraction unit that extracts, as temporal feature data, changes over time in a feature element included in the reception signal based on the reception signal and a feature pattern of the object prescribed in advance,
• a data compression unit that compresses the temporal feature data and acquires a plurality of feature quantities, and
• a determination unit that determines the shape of the object by calculating the plurality of feature quantities and the measurement information while weighting with a predetermined weight, and
• the measurement information is information having a correlation with changes in the waveform of the reception signal or the shape of the object.