Object detection system and object detection method

An object detection method using an object detection system mounted on a first mobile body comprising a first receiving unit, a first transmitting unit, a second receiving unit, a second transmitting unit, a waveform determination unit, and a determination signal insertion unit,

• wherein the method comprises:
• receiving electromagnetic wave by the first receiving unit;
• determining, by the waveform determination unit, whether the electromagnetic wave received by the first receiving unit is first transmission wave transmitted from a second mobile body different from the first mobile body;
• inserting, by the determination signal insertion unit, a determination signal indicating the result of the determination into the signal contained in the first transmission wave when the electromagnetic wave is determined by the waveform determination unit to be first transmission wave transmitted from the second mobile body;
• transmitting, by the second transmitting unit, a second transmission wave containing the signal into which the determination signal has been inserted;
• receiving, by the second receiving unit, a reflected wave generated by the reflection of the second transmission wave by an object;
• determining, by the waveform determination unit, whether the reflected wave is due to the first transmission wave;
• and
• transmitting, by the first transmitting unit, a third transmission wave containing the signal included in the reflected wave to the second mobile body when the reflected wave is determined by the waveform determination unit to be due to the first transmission wave.