US Patent 11169252 Object detection device

A range setting unit sets, for each of tracked objects as objects being tracked, a connection range as a range in which the tracked object is estimated to be movable based on a state quantity of the tracked objects determined in the previous processing cycle. An association extraction unit extracts, for each of the tracked objects, a reflection point detected in the current processing cycle and positioned in the connection range as an associated reflection point. A state quantity update unit updates, for each of the tracked objects, the state quantity of the tracked objects in the current processing cycle, based on the previous state quantity and the state quantity of the associated reflection point.