TARGET DETECTION APPARATUS FOR DETECTING LOW-LEVEL TARGET AND TARGET DETECTION METHOD FOR DETECTING THE SAME

A target detection apparatus includes a target detection means, a depth determination value calculation means, a crossing over determination means, an attention information setting means, a tracking means, a transfer determination value calculation means, and an attention information cancelling means. The depth determination value calculation means determines a depth determination value indicating the depth of a target. The crossing over determination means determines whether the target can be crossed over by the vehicle. The attention information setting means sets attention information indicating that the target needs to be paid attention. The tracking means determines a connection relationship between a current-cycle target and a previous-cycle target and cause the current-cycle target having a connection relationship, to take over information relating to the previous-cycle target. The transfer determination value calculation means determines a transfer determination value, for each target. The attention information cancelling means cancels the setting of the attention information.