JP2007057406A - Object detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object detector capable of simultaneously detecting two directions with a simple configuration. <P>SOLUTION: The electromagnetic wave Pout transmitted from a radar transmitter/receiver 12 is partly transmitted in a translucent plate 13 to be a transmitted wave Pt and the rest is reflected to be a reflection wave Pr. If the transmitted wave Pt or the reflected wave Pr is reflected by an object, the reflected electromagnetic wave is received by a radar transmitter/receiver 12 by way of the translucent plate 13. An object detector 11 processes the signal of the received electromagnetic wave Pin and the transmitted electromagnetic wave Pout and calculates a relative distance to the object having reflected the transmitted wave Pt or the reflected wave Pr, or relative velocity. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an object detection apparatus that detects an object by detecting reflection of an electromagnetic wave from the object.

Conventionally, for example, a radar device used as an on-vehicle object detection device is intended to detect a preceding vehicle existing ahead of the traveling direction of the vehicle. As a method for detecting an object that exists not only in front of the vehicle in the traveling direction but also on the side of the vehicle, the above radar device and a television camera that monitors the side of the vehicle are combined, and the detection results of both are combined. A signal processing method is known (for example, see Patent Document 1).
JP-A-9-212800

However, in the above conventional detection method, it is necessary to install a plurality of detection means (radar apparatus and television camera) in order to simultaneously monitor the front and side of the traveling direction of the vehicle, and there is a problem that the configuration becomes complicated. there were.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an object detection device capable of simultaneously detecting two directions with a simple configuration.

  In order to solve the above-described problems and achieve the object, the object detection device according to the first aspect of the present invention transmits the electromagnetic wave and is reflected by the object (for example, the preceding vehicle Q in the embodiment). Transmission / reception means for receiving electromagnetic waves (for example, the radar transmission / reception unit 12 in the embodiment) and object detection means for detecting an object based on the received electromagnetic waves (for example, the object detection unit 11 in the embodiment) are provided. The object detection apparatus includes a semi-transmission unit (for example, a semi-transmission plate 13 in the embodiment) that transmits a part of the transmitted electromagnetic wave and reflects the remaining electromagnetic wave while being installed in the transmission direction of the electromagnetic wave of the transmission / reception unit, The object detecting means is based on the electromagnetic wave transmitted through the semi-transmissive means and the electromagnetic wave reflected by the semi-transmissive means, An object detection apparatus and detecting objects present in the direction morphism.

  According to the object detection device having the above-described configuration, one object detection unit can separate one of two directions by separating an electromagnetic wave to be transmitted into two directions of a transmission wave by the semi-transmission unit and a reflection wave by the semi-transmission unit. Can be detected.

  Furthermore, the object detection device of the present invention according to claim 2 is the object detection device according to claim 1, wherein the reflection direction of the electromagnetic wave reflected by the semi-transmission means is relative to the transmission direction of the electromagnetic wave by the transmission / reception means. And a predetermined angle (for example, the angle θ2 in the embodiment).

  According to the object detection device having the above configuration, the angle formed between the electromagnetic wave transmission direction and the electromagnetic wave reflection direction, that is, the angle formed between the electromagnetic wave transmission direction and the reflection direction can be set.

  Furthermore, the object detection device of the present invention according to claim 3 is the object detection device according to claim 1 or 2, wherein the reflection direction of the electromagnetic wave reflected by the semi-transmissive means is the electromagnetic wave by the transmission / reception means. The transmission direction and the semi-transmission means are set by an angle (for example, the angle θ1 in the embodiment).

  According to the object detection apparatus having the above configuration, only the reflection direction of the electromagnetic wave is changed by changing the direction of the semi-transmissive means.

  Furthermore, an object detection device according to a fourth aspect of the present invention is the object detection device according to any one of the first to third aspects, wherein the detected object is an electromagnetic wave transmission direction. Or a detection direction determination means for determining whether the object exists in the electromagnetic wave reflection direction, the object detection means based on the output of the detection direction determination means, the position of the object existing in the electromagnetic wave transmission direction or the electromagnetic wave reflection direction It is characterized by specifying.

  According to the object detection device having the above configuration, it is possible to determine whether the detected object is present in the transmission direction or the reflection direction of the electromagnetic wave.

  Furthermore, an object detection device according to a fifth aspect of the present invention is the object detection device according to any one of the first to fourth aspects, wherein the object detection device detects a plurality of objects whose detection areas overlap. And a plurality of object detection means for determining whether or not the objects detected by the plurality of object detection means are the same object (for example, the object determination unit 20 in the embodiment). The detection area of the electromagnetic wave transmission direction detected by one object detection means or the detection area of the electromagnetic wave reflection direction detected by the other object detection means or the detection area of the electromagnetic wave transmission direction or the detection area of the electromagnetic wave reflection direction detected by the other object detection means The object determination unit is configured to overlap the object based on the position and relative speed of the object detected by the plurality of object detection units. It is characterized by determining whether the same object existing in known region.

  According to the object detection device having the above configuration, by using a plurality of object detection units in which the detection areas of the objects overlap, it is determined that the object detected by both the object detection means is an object existing in the overlapped detection area. In addition, it is possible to determine the direction in which the object exists by determining that the object detected only by one of the object detection means is an object existing in the remaining detection direction that is not an overlapped region.

  Furthermore, an object detection device according to a sixth aspect of the present invention is the object detection device according to any one of the first to fifth aspects, wherein the object detection means is an electromagnetic wave transmitted by the transmission / reception means. By scanning the object detection area of the object by the electromagnetic wave transmitted through the semi-transmission means or the detection area of the object by the electromagnetic wave reflected by the semi-transmission means.

  According to the object detection device having the above-described configuration, it is possible to simultaneously change the transmission direction and the reflection direction of the electromagnetic wave by scanning the electromagnetic wave transmitted by the transmission / reception means.

  Furthermore, an object detection device according to a seventh aspect of the present invention is the object detection device according to any one of the first to sixth aspects, wherein the semi-transmissive means is a rotating shaft (for example, in the embodiment). The object detection means scans the reflected electromagnetic wave within a detection area by rotating the semi-transmission means.

  According to the object detection device having the above-described configuration, by installing the semi-transmissive means so as to be rotatable, it is possible to scan only the reflection direction of the electromagnetic wave in a state where the transmission direction of the electromagnetic wave is fixed.

  Furthermore, the object detection device of the present invention according to claim 8 is the object detection device according to any one of claims 5 to 7, wherein the object detection device is mounted on a vehicle, and the plurality of objects The detection areas of the detection means are characterized by overlapping in the vehicle traveling direction.

  According to the object detection device having the above configuration, an object detection device including a plurality of object detection means is mounted on a vehicle, and the detection ranges of the plurality of object detection means are set so as to overlap in the vehicle traveling direction. It is possible to determine whether the object is present in the vehicle traveling direction or the left-right direction of the vehicle by the same method as that of the object detection device described in the above.

  Furthermore, the object detection device of the present invention according to claim 9 is the object detection device according to any one of claims 1 to 8, wherein the object detection device is mounted on a vehicle, and the transflective means The reflectance or transmittance is set based on the ratio of the detectable distance in the electromagnetic wave transmission direction and the detectable distance in the electromagnetic wave reflection direction.

  According to the object detection device having the above configuration, the reflectance or transmittance is set by adjusting the reflection characteristic or transmission characteristic of the semi-transmission means, and the detection distance in the electromagnetic wave transmission direction and the detection distance in the electromagnetic wave reflection direction are set. It is possible to adjust the ratio.

  According to the object detection device of the present invention as set forth in claim 1, by separating the electromagnetic wave to be transmitted into two directions of the transmitted wave by the semi-transmitting means and the reflected wave by the semi-transmitting means, one object detecting means An object existing in one of two directions can be detected, and two different directions can be detected without using a complicated configuration.

  Furthermore, according to the object detection device of the present invention, the angle between the electromagnetic wave transmission direction and the electromagnetic wave reflection direction, that is, the angle between the electromagnetic wave transmission direction and the reflection direction can be set. It is possible to effectively set the transmission direction and the reflection direction of the electromagnetic wave so as to intensively detect a region where it is necessary to perform the operation.

  Furthermore, according to the object detection device of the present invention described in claim 3, since only the reflection direction of the electromagnetic wave is changed by changing the direction of the semi-transmissive means, the reflection direction of the electromagnetic wave can be easily adjusted.

  Furthermore, according to the object detection device of the present invention described in claim 4, it is possible to determine in which direction the detected object exists in the transmission direction or the reflection direction of the electromagnetic wave, and the position where the object exists is determined. It can be accurately identified.

  Furthermore, according to the object detection apparatus of the present invention as set forth in claim 5, by using a plurality of object detection means in which the object detection areas overlap, the objects detected by both object detection means overlap. And the object detected only by one of the object detection means is an object that exists in the remaining detection direction that is not an overlapped area, thereby determining the direction in which the object exists. The position where the object exists can be specified accurately.

  Furthermore, according to the object detection device of the present invention described in claim 6, it is possible to simultaneously change the transmission direction and the reflection direction of the electromagnetic wave by scanning the electromagnetic wave transmitted by the transmission / reception means. It is possible to simultaneously scan both the object detection area by the electromagnetic wave transmitted through the transmission plate and the object detection area by the electromagnetic wave reflected by the semi-transmission plate.

  Furthermore, according to the object detection device of the present invention as set forth in claim 7, the semi-transmission means is rotatably installed so that only the reflection direction of the electromagnetic wave can be scanned with the transmission direction of the electromagnetic wave fixed. It is possible to scan only the detection area of the object by the electromagnetic wave reflected by the semi-transmissive plate.

  Further, according to the object detection device of the present invention as set forth in claim 8, the object detection device including a plurality of object detection means is mounted on the vehicle so that the detection ranges of the plurality of object detection means overlap in the vehicle traveling direction. By setting, it is possible to determine whether the object exists in the traveling direction of the vehicle or in the left-right direction of the vehicle in the same manner as the object detection device according to claim 5, and the position where the object exists is determined. It can be accurately identified.

  Further, according to the object detection apparatus of the present invention as set forth in claim 9, the reflectance or transmittance is set by adjusting the reflection characteristic or transmission characteristic of the semi-transmission means, and the detectable distance in the electromagnetic wave transmission direction and the electromagnetic wave The ratio of the reflection direction to the detectable distance can be adjusted, and the power of the electromagnetic wave to be transmitted can be effectively used according to the required detection range.

Hereinafter, an object detection device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of a radar apparatus (object detection apparatus) according to an embodiment of the present invention. In FIG. 1, the electromagnetic wave Pout transmitted from the radar transmission / reception unit 12 is partially transmitted through the semi-transmissive plate 13 to become a transmitted wave Pt, and the rest is reflected to become a reflected wave Pr.

  When the transmitted wave Pt or the reflected wave Pr is reflected by the object, the reflected electromagnetic wave is received by the radar transmitting / receiving unit 12 via the semi-transmissive plate 13. The object detection unit 11 performs signal processing on the received electromagnetic wave Pin and the transmitted electromagnetic wave Pout, and calculates a relative distance and a relative speed to the object reflecting the transmitted wave Pt or the reflected wave Pr.

  The object detection unit 11 can detect an object that exists in either the direction of the transmitted wave Pt or the direction of the reflected wave Pr. A method for determining whether the object is in the direction of the transmitted wave Pt or the object in the direction of the reflected wave Pr will be described later.

  The semi-transmissive plate 13 includes an indication member 131 made of a resin and a metal vapor deposition film 132 deposited on the surface of the indication member 131. When a part of the electromagnetic wave Pout incident on the semi-transmissive plate 13 is transmitted through the metal vapor deposition film 132, a loss occurs in the power of the transmitted wave Pt according to the film thickness of the metal vapor deposition film.

  The semi-transmissive plate 13 is inclined by a predetermined angle θ1 with respect to the incident direction of the electromagnetic wave Pout, and the angle between the electromagnetic wave Pout and the reflected wave Pr can be adjusted by setting the angle θ1 to an appropriate value. . Thereby, it is possible to set so that the area | region with a high necessity of performing an object detection may be detected with the reflected wave Pr. For example, when the radar apparatus 1 is mounted on a vehicle, the angle θ1 may be set so that the vehicle front and the vehicle side, which are highly necessary to detect an object, are detected by the transmitted wave Pt and the reflected wave Pr. it can.

  FIG. 2 is a graph showing the relationship between the thickness of the metal vapor deposition film and the transmission loss of the transmitted wave Pt, and the transmission loss increases as the thickness of the metal vapor deposition film increases. That is, when setting a radar apparatus having a power ratio between the transmitted wave Pt and the reflected wave Pr of a predetermined ratio α, the predetermined ratio is realized by adjusting the transmission loss according to the film thickness of the metal deposition film. It is possible.

  Next, a method for scanning an electromagnetic wave transmitted from the radar apparatus 1 will be described with reference to FIGS. As shown in FIG. 3, by changing the direction of the electromagnetic wave Pout transmitted from the radar transmitting / receiving unit 12, the angle θ2 formed by the electromagnetic wave Pout and the reflected wave Pr changes. When scanning by this method, the directions of the transmitted wave Pt and the reflected wave Pr can be changed simultaneously.

  Note that by changing the angle θ2 formed between the electromagnetic wave Pout and the reflected wave Pr, the angle formed between the transmitted wave Pt and the reflected wave Pr, that is, the angle formed between the two directions in which object detection is performed is changed. For this reason, it is possible to set angle (theta) 2 according to the angle formed between two area | regions with high necessity of performing an object detection.

  On the other hand, as shown in FIG. 4, when scanning is performed by providing the semi-transmissive plate 13 with the rotation shaft 133 and rotating the semi-transmissive plate 13 around the rotation shaft 133, the direction of the transmitted wave Pt is not changed. It is possible to change only the direction of the reflected wave Pr.

  Therefore, an area that needs to be scanned to increase detection accuracy is detected by the reflected wave Pr, and an area that does not require detection accuracy and does not need to be scanned is detected by the transmitted wave Pt. Can do. For example, when the radar device 1 is mounted on a vehicle, a region in the vehicle traveling direction that requires detection accuracy is set as a detection area for the reflected wave Pr, and a region in the vehicle side direction that does not require detection accuracy is set in the transmitted wave Pt. The detection area.

  Note that the method of rotating the semi-transmissive plate 13 utilizes the fact that only the direction of the reflected wave Pr changes, and when the detection result at the object detection unit 11 changes during the rotation of the semi-transmissive plate 13, the reflected wave Pr. If it does not change, it can be determined that the object is present in the direction of the transmitted wave Pt (detection direction determination means according to claim 4).

  The radar apparatus of FIG. 1 according to the embodiment of the present invention can be realized by adding a semi-transmissive plate 13 to a conventional radar apparatus, and can detect two different directions with a simple configuration.

  Next, a method for detecting two objects by mounting two radar devices 1 of FIG. 1 on a vehicle will be described. FIG. 5 is a block diagram showing a configuration of an object detection device (object detection device according to claim 5) on which two radar devices are mounted, and FIG. 6 shows an example of mounting positions of the two radar devices 1a and 1b. FIG.

  In FIG. 5, the radar device 1a detects the front and right side of the vehicle, and the radar device 1b detects the front and left side of the vehicle. Further, the detection ranges in the forward direction of the radar apparatuses 1a and 1b are overlapped. The configuration of the radar devices 1a and 1b is the same as that shown in FIG. The object determination unit 20 receives the detection results of the object detection units 11a and 11b, and determines whether the object reflecting the electromagnetic wave exists in front of the vehicle or on the side of the vehicle (details of determination method) Will be described later).

  As described above, the radar devices 1a and 1b set the orientation of the semi-transmissive plate 13 in advance so that the vehicle front side and the vehicle side are within the detection range. Depending on the arrangement of the semi-transmissive plate 13, as shown in FIG. As shown in FIG. 7B, the front of the vehicle is detected by the reflected wave Pr and the side of the vehicle is detected by the transmitted wave Pt (hereinafter referred to as method 1). A method of detecting the side of the vehicle with the reflected wave Pr (hereinafter referred to as method 2) is conceivable.

  Which of the above methods 1 and 2 is adopted for the radar devices 1a and 1b is arbitrary. That is, the method 1 is used for both the radar devices 1a and 1b, the method 1 is used for the radar device 1a, the method 2 is used for the radar device 1b, the method 2 is used for the radar device 1a, and the method 1 is used for the radar device 1b. Either the case or the case where the radar apparatus 1a or 1b uses the method 2 is possible. Hereinafter, a case where the method 1 is used for both the radar apparatuses 1a and 1b will be described as an example.

  FIG. 8 shows the detection range of the radar devices 1a and 1b, and the detection range A is a detection range by the reflected wave Pr of the radar device 1a. The detection range B is a detection range by the reflected wave Pr of the radar apparatus 1b, and the detection range C is a region where the detection range A and the detection range B overlap. That is, the object within the detection range C is detected by both the radar devices 1a and 1b. The detection range S is a detection range by the transmitted wave Pt of the radar apparatus 1b. The transmitted wave Pt of the radar 1a has a detection range (not shown) on the right side of the vehicle P.

Generally, when detecting using reflection of electromagnetic waves, it is known that the fourth power of the maximum detection distance by electromagnetic waves is proportional to the power of the electromagnetic waves. For example, in the radar apparatus 1b, when the maximum detection distance in the forward direction in the detection range B is Lb and the maximum detection distance in the lateral direction in the detection range S is Ls, the power of the electromagnetic wave (reflected wave Pr) transmitted in the forward direction The power ratio R = Eb / Es of the power Es of the electromagnetic wave (transmitted wave Pt) transmitted in the lateral direction with Eb is:
R = β · Lb ⁴ / Ls ⁴ (β is a proportional constant)
It is represented by

  As described above with reference to FIG. 2, the radar apparatus 1 b can change the power Es of the transmitted wave Pt, that is, the power ratio R, by changing the film thickness of the metal vapor deposition film 132. Therefore, by setting the film thickness of the metal vapor deposition film 132 to an appropriate value, it is possible to match the maximum detection distance required in the system that uses the detection result of the radar apparatus 1b.

  As described above, the object detection device of the present embodiment can set the power ratio R between the reflected wave Pr and the transmitted wave Pt in accordance with the system, so that it does not detect a region that is not necessary in the system. The power of the electromagnetic wave to be transmitted can be used effectively.

  Returning to FIG. 8, the radar devices 1a and 1b can detect the front side of the vehicle (detection ranges A and B) and the side of the vehicle (detection range S) at the same time, and the preceding vehicle Q in front is detected by the object detection unit 11a. And the vehicle R of the side is detected by the object detection part 11b by the object detection part 11b.

  At this time, if the distance from the radar device 1a to the preceding vehicle Q is d1, the distance from the radar device 1b to the preceding vehicle Q is d2, and the distance from the radar device 1b to the vehicle R is d3, the object detection unit 11a The object detection unit 11b detects that there are two objects in total at the distance d2 and the distance d3.

Next, a method for determining whether the object whose electromagnetic wave is reflected by the object determination unit 20 is the preceding vehicle Q or the vehicle R based on the detection results of the object detection units 11a and 11b will be described.
First, from the detection result data of the object detection units 11a and 11b, data that is in the front detection range (detection ranges A and B) and outside the overlapping region (detection range C) is obtained. delete.

  In the present embodiment, the detection ranges of the radar devices 1a and 1b are overlapped, and the overlapped region (detection range C) is set as the detection range of the preceding vehicle Q. Objects outside the range of C are not detected.

  Subsequently, with respect to data that is detected by both of the object detection units 11a and 11b and is assumed to be an object in the detection range C, the position of the object detected by both of the object detection units 11a and 11b ( Or the relative speed etc. with the own vehicle P) are compared. When the positions detected by both the object detection units 11a and 11b (that is, the distance d1 and the distance d2) match, it is determined that the object is a front object (that is, the preceding vehicle Q). At this time, the relative velocities detected by both may be compared at the same time, and when both the position and the relative velocities match, it may be determined that the object is ahead.

  After the preceding vehicle Q is determined, the detection result data regarding the preceding vehicle Q is deleted. At this time, all the data resulting from the objects in the front detection ranges A and B are deleted, and the remaining data becomes data in the side detection range. For example, if data detected by the object detection unit 11b remains, it is determined that the data is an object within the detection range S (that is, the vehicle R).

  In this embodiment, it is possible to detect both the front and left and right directions of the vehicle with two radar devices, and further, the detection direction of the vehicle can be specified by overlapping the front detection ranges of the two radar devices. It becomes possible.

  As mentioned above, although embodiment of this invention was explained in full detail, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

  The present invention is suitable for use in an object detection apparatus that detects an object by detecting reflection of electromagnetic waves.

It is a block diagram which shows the structure of the radar apparatus concerning one Embodiment of this invention. 2 is a graph showing the relationship between the thickness of the metal vapor deposition film 132 of FIG. 1 and the transmission loss of transmitted light Pt in the metal vapor deposition film 132. FIG. 2 is a diagram illustrating a method of scanning by changing the direction of an electromagnetic wave transmitted from a radar transmission / reception unit 12 in the radar apparatus 1 of FIG. 1. FIG. 2 is a diagram illustrating a method of scanning by changing the direction of a semi-transmissive plate in the radar apparatus 1 of FIG. 1. It is a block diagram which shows the structure of the object detection apparatus carrying two radar apparatuses. It is an image figure which shows the mounting position when two radar apparatus 1a, 1b is mounted in a vehicle. It is a figure which shows the relationship between the translucent plate of FIG. 1, and the incident direction of electromagnetic waves. It is a figure which shows the detection range by the radar apparatuses 1a and 1b of FIG.

Explanation of symbols

1 ... Radar device (object detection device)
11 ... Object detection unit (object detection means)
12 ... Radar transceiver (transmission / reception means)
13 ... Semi-transmissive plate (semi-transmissive means)
20 ... Object determination unit (object determination means)
131 ... Indicating member 132 ... Metal vapor deposition film 133 ... Rotating shaft

Claims (9)

Transmitting and receiving means for transmitting electromagnetic waves and receiving the electromagnetic waves reflected by the object;
In an object detection device comprising: an object detection means for detecting an object based on the received electromagnetic wave,
A translucent means for transmitting a part of the transmitted electromagnetic wave and reflecting the remaining electromagnetic wave while being installed in the transmission direction of the electromagnetic wave of the transmission / reception means;
The object detection means includes
Based on the electromagnetic wave transmitted through the semi-transmissive means and the electromagnetic wave reflected by the semi-transmissive means,
An object detection apparatus for detecting an object existing in an electromagnetic wave transmission direction and an electromagnetic wave reflection direction.   The object detection apparatus according to claim 1, wherein a reflection direction of the electromagnetic wave reflected by the semi-transmission unit is set to be a predetermined angle with respect to a transmission direction of the electromagnetic wave by the transmission / reception unit. The reflection direction of the electromagnetic wave reflected by the semi-transmissive means is
The object detection apparatus according to claim 1, wherein the object detection apparatus is set by an angle formed by a transmission direction of electromagnetic waves by the transmission / reception means and the semi-transmission means. The object detection device further includes detection direction determination means for determining whether the detected object is an object that exists in an electromagnetic wave transmission direction or an electromagnetic wave reflection direction,
The said object detection means pinpoints the position of the object which exists in an electromagnetic wave transmission direction or an electromagnetic wave reflection direction based on the output of a detection direction determination means, The any one of Claims 1-3 characterized by the above-mentioned. Object detection device. The object detection device includes:
A plurality of object detection means having overlapping detection areas;
An object determination means for determining whether or not the objects detected by the plurality of object detection means are the same object,
The detection areas of the plurality of object detection means are:
The detection region of the electromagnetic wave transmission direction or the detection region of the electromagnetic wave reflection direction detected by one object detection means is either one of the detection region of the electromagnetic wave transmission direction or the detection region of the electromagnetic wave reflection direction detected by the other object detection means. Set to overlap,
The object determination means includes
2. The apparatus according to claim 1, wherein it is determined whether or not the same object exists in a detection area where the objects overlap based on the positions and relative speeds of the objects detected by the plurality of object detecting means. 5. The object detection device according to any one of 4. The object detection means includes
By scanning the electromagnetic waves transmitted by the transceiver means,
6. The object detection area by an electromagnetic wave transmitted through the semi-transmissive means or the object detection area by an electromagnetic wave reflected by the semi-transmissive means is scanned. Object detection device. The semi-transmissive means is supported so as to be rotatable about a rotation axis,
7. The object detection apparatus according to claim 1, wherein the object detection unit scans the reflected electromagnetic wave in a detection region by rotating the semi-transmission unit. . The object detection device is mounted on a vehicle,
The object detection apparatus according to claim 5, wherein detection areas of the plurality of object detection units overlap in a vehicle traveling direction. The object detection device is mounted on a vehicle,
The reflectivity or transmittance of the semi-transmissive means is set based on a ratio of a detectable distance in the electromagnetic wave transmission direction and a detectable distance in the electromagnetic wave reflection direction. The object detection apparatus according to claim 1.

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