Object detection device and program

A computer-readable non-transitory storage medium storing a program to be executed by a computer of an object detection device mounted on a moving body to detect an object present around the moving body,

• the program causing the computer to execute:
• a transmission and reception step of causing a plurality of transmission and reception units to transmit and receive an ultrasonic wave;
• and
• an arithmetic step of calculating an object distance, which is a distance from the moving body to the object, on a basis of transmission and reception timings of an ultrasonic wave in each of the plurality of transmission and reception units, wherein
• the arithmetic step includes:
• a step of adopting, as detection data, a distance based on one or more reflected waves with respect to a transmission wave transmitted from any one of the plurality of transmission and reception units every time the one or more reflected waves are received, in a case where the reflected wave has predetermined reliability, setting detection data of the reflected wave having the reliability as reference detection data, performing triangulation on each of a plurality of pieces of the detection data included in a predetermined range of the reference detection data, and calculating a plurality of coordinates based on the detection data up to the object;
• and
• a step of obtaining a moving direction of the object on a basis of the plurality of coordinates obtained every time the transmission wave is transmitted, and determining whether the moving body collides with the object on a basis of the moving direction.