Object detection device and object detection method

An object detection method of detecting an object approaching the host vehicle from a diagonally rearward direction, the method comprising:

• acquiring segment information about a position and a movement state of a segment, the segment being a region presumed to be an object and generated based on transmission and reception results of radar waves by a radar sensor having detection regions located diagonally rearward of the host vehicle;
• and
• determining, based on the segment information, whether the segment is a ghost, wherein
• the determining includes determining that the segment is a ghost when the segment information meets a ghost determination condition, the ghost determination condition including:
• a first condition that a segment travel direction of the segment is a direction along a cross-range direction of the radar sensor;
• a second condition that the segment travel direction and a host-vehicle travel direction of the host vehicle intersect forward of the host vehicle;
• and
• a third condition that, at a time point when the segment is generated, a center position of the segment is located forward of a predefined boundary position defined with reference to a mounting position of the radar sensor in a longitudinal direction of the host vehicle.

A computer program product comprising instructions which, when executed by a computer, cause the computer to perform an object detection method comprising:

• acquiring segment information about a position and a movement state of a segment, the segment being a region presumed to be an object and generated based on transmission and reception results of radar waves by a radar sensor having detection regions located diagonally rearward of the host vehicle;
• and
• determining, based on the segment information, whether the segment is a ghost, wherein
• the determining includes determining that the segment is a ghost when the segment information meets a ghost determination condition, the ghost determination condition including:
• a first condition that a segment travel direction of the segment is a direction along a cross-range direction of the radar sensor;
• a second condition that the segment travel direction and a host-vehicle travel direction of the host vehicle intersect forward of the host vehicle;
• and
• a third condition that, at a time point when the segment is generated, a center position of the segment is located forward of a predefined boundary position defined with reference to a mounting position of the radar sensor in a longitudinal direction of the host vehicle.