OBJECT DETECTION DEVICE

To more appropriately estimate road surface height in areas where road surface height is difficult to detect.SOLUTION: An object detection device includes a laser radar that irradiates the inside of a monitoring area with a laser beam and receives reflected light of the laser beam, a map generation unit that generates an unevenness map showing the road surface height for each cell in the monitoring area based on the received reflected light, and an object detection unit that detects objects on the road surface within the monitoring area based on the generated unevenness map and the reflected light received by the laser radar. The map generation unit interpolates the road surface height of an interpolation target cell where the received reflected light does not meet predetermined light reception conditions based on the road surface height of a first cell adjacent to the interpolation target cell on the laser radar side and the road surface height of a second cell adjacent to the interpolation target cell on the opposite side from the laser radar side.SELECTED DRAWING: Figure 1 【課題】路面高さの検出が困難な領域について路面高さの推定をより一層適切に行う。【解決手段】物体検出装置は、監視領域内にレーザ光を照射し、照射したレーザ光の反射光を受光するレーザレーダと、受光された反射光に基づいて、監視領域内のセルごとの路面高さを示す凹凸マップを生成するマップ生成部と、生成された凹凸マップ及びレーザレーダで受光された反射光に基づいて、監視領域内の路面上の検出対象物を検出する対象物検出部と、を備える。マップ生成部は、受光された反射光が予め定められた受光条件を満たさない補間対象セルの路面高さを、当該補間対象セルに対してレーザレーダ側に隣接する第１セルの路面高さと、当該補間対象セルに対してレーザレーダ側とは反対側に隣接する第２セルの路面高さとに基づいて補間する。【選択図】図１