OBJECT DETECTOR, OBJECT DETECTION SYSTEM, AND OBJECT DETECTION METHOD

To perform appropriate clustering pertaining to measurement information of a radar.SOLUTION: A processor 23 of an object detector 3 is configured to: acquire setting information of a radar grating 41 for measurement which is individually set in correspondence to a measurement area 18 of a radar 2 and composed of a plurality of radar cells R; acquire the setting information of a grating 45 for processing for clustering process which is set in correspondence to the measurement area 18 and composed of a plurality of cells F for processing; calculating a likelihood pertaining to a measured value of each radar cell R on the basis of a distance between each radar cell R and each cell F for processing, respectively; calculating the grating value of each cell F for processing in the grating 45 for processing on the basis of the likelihood, respectively; and perform clustering on each cell F for processing on the basis of the distance between each cell F for processing or the grating value or both of the distance and the grating value.SELECTED DRAWING: Figure 3 【課題】レーダーの測定情報に関して適切なクラスタリングを行う。【解決手段】物体検出装置３のプロセッサ２３が、レーダー２の測定エリア１８にそれぞれ対応して設定され、かつ複数のレーダーセルＲから構成される測定用のレーダー格子４１の設定情報を取得し、測定エリア１８に対応して設定され、かつ複数の処理用セルＦから構成されたクラスタリング処理用の処理用格子４５の設定情報を取得し、各レーダーセルＲと各処理用セルＦとの距離に基づき、各レーダーセルＲの測定値に関する尤度をそれぞれ算出し、その尤度に基づき、処理用格子４５における各処理用セルＦの格子値をそれぞれ算出し、各処理用セルＦについて、当該各処理用セルＦの間の距離または格子値、あるいは前記距離と前記格子値の両方に基づきクラスタリングを行う構成とする。【選択図】図３