Object detection device

An object detection device installed in a vehicle to detect an object present around the vehicle, the object detection device comprising:

• a control unit configured to control a transmission/reception unit that transmits a transmission wave and receives a reception wave generated by reflection of the transmission wave against the object, the control unit controlling the transmission/reception unit to transmit the transmission wave at a predetermined transmission timing;
• a distance calculation unit configured to calculate a distance to the object based on the transmission wave and the reception wave;
• and
• a determination unit configured to determine a random time as a standby time for shifting the transmission timing, the random time being determined in accordance with each of a normal state, a first approach state, and a second approach state, the normal state being a state in which the distance to the object is larger than a first distance or in which the object is not detected, the first approach state being a state in which the distance to the object is smaller than or equal to the first distance, the second approach state being a state in which the distance to the object is smaller than or equal to a second distance smaller than the first distance,
• wherein the control unit is configured to control the transmission/reception unit to transmit the transmission wave at a new transmission timing obtained by delaying the transmission timing by the determined random time.