OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD

To reduce a possibility of an erroneous recognition that fails to recognize a three-dimensional object.SOLUTION: An object detection device 40 is comprised of: a position information acquisition unit 42 that acquires position information of an object in a traveling direction of the own vehicle; an imaging information acquisition unit 44 that acquires imaging information of the object in the traveling direction of the own vehicle; a fusion unit 45 that generates integrated information when the information of the object included in the position information and the information of the object included in the imaging information are integrated; and a recognition unit 46 for determining the object for which the integration is established as a three-dimensional object when a number of generations of the integrated information is equal to or greater than a determination number threshold for determining an existence of the three-dimensional object. The recognition unit 46 sets the fixed number threshold value according to a margin corresponding to the number of times the integrated information is generated that can be executed by the fusion unit 45 before colliding with the object, while the margin according to the number of times of generation of the integrated information is a margin determined from the distance to the object, the speed of the own vehicle, and the processing cycle in the fusion portion.SELECTED DRAWING: Figure 1 【課題】立体物を認識し損なうような誤認識の可能性を低減する。【解決手段】物体検出装置４０は、自車両の進行方向における物体の位置情報を取得する位置情報取得部４２と、自車両の進行方向における物体の撮像情報を取得する撮像情報取得部４４と、前記位置情報に含まれる前記物体の情報と、前記撮像情報に含まれる前記物体の情報との統合が成立する場合に、統合情報を生成するフュージョン部４５と、前記統合情報の生成回数が、立体物の存在を確定するための確定回数閾値以上となる場合に、前記統合が成立した前記物体を立体物として確定する認識部４６とを備える。認識部４６は、前記物体までの距離、自車両の速度、及び前記フュージョン部における処理周期から定まる余裕度であって、前記物体に衝突するまでにフュージョン部４５によって実行可能な前記統合情報の生成回数に応じた余裕度に応じて前記確定回数閾値を設定する。【選択図】図１