Object detection apparatus

1. An object detection apparatus comprising:

a processor configured to implement:

a transmitting portion configured to transmit a transmission wave based on at least two frequencies set within a range of a predetermined frequency band;

a receiving portion configured to receive a reception wave based on the transmission wave which returned in response to reflection at an object;

an estimation portion configured to estimate an amount of frequency transition due to Doppler shift between the transmission wave and the reception wave on the basis of a result of a frequency analysis on the reception wave and transmit frequency information indicating a relation between the at least two frequencies of the transmission wave;

a correction portion configured to correct the reception wave to obtain consistency of frequencies with the transmission wave on the basis of an estimation result of the estimation portion; and

a detection portion configured to detect information related to the object on the basis of a relation between the transmission wave and the corrected reception wave corrected by the correction portion.

2. The object detection apparatus according to claim 1 , wherein

the transmitting portion transmits, as the transmission wave, a plurality of temporally continuous wave motions including a combination of at least two wave motions of which signal levels reach peaks at the at least two frequencies, respectively, and

on the basis of the result of the frequency analysis and the transmit frequency information, the estimation portion identifies a correspondence relationship between one or more frequencies at which a signal level of the reception wave reaches a peak and the at least two frequencies of the transmission wave, and estimates the amount of the frequency transition on the basis of a difference between the frequencies which correspond to each other.

3. The object detection apparatus according to claim 2 , wherein

in a case where a number of the one or more frequencies of the reception wave and a number of the at least two frequencies of the transmission wave are equal to each other, the estimation portion identifies the correspondence relationship between the one or more frequencies of the reception wave and the at least two frequencies of the transmission wave on the basis of coincidence of the one or more frequencies of the reception wave and the at least two frequencies of the transmission wave with each other or on the basis of coincidence of a magnitude relationship between the one or more frequencies of the reception wave and a magnitude relationship between the at least two frequencies of the transmission wave with each other.

4. The object detection apparatus according to claim 3 , wherein

in a case where a number of the one or more frequencies of the reception wave and a number of the at least two frequencies of the transmission wave differ from each other, the estimation portion identifies the correspondence relationship between the one or more frequencies of the reception wave and the at least two frequencies of the transmission wave on the basis of a blank band existing at at least one of a low range side and a high range side relative to the one or more frequencies of the reception wave within the range of the predetermined frequency band.

5. The object detection apparatus according to claim 3 , wherein the at least two wave motions are respectively associated with informations which differ from each other such that the plurality of wave motions are encoded to include predetermined identification information, and the transmitting portion transmits, as the transmission wave, the encoded plurality of wave motions.

6. The object detection apparatus according to claim 2 , wherein

in a case where a number of the one or more frequencies of the reception wave and a number of the at least two frequencies of the transmission wave differ from each other, the estimation portion identifies the correspondence relationship between the one or more frequencies of the reception wave and the at least two frequencies of the transmission wave on the basis of a blank band existing at at least one of a low range side and a high range side relative to the one or more frequencies of the reception wave within the range of the predetermined frequency band.

7. The object detection apparatus according to claim 6 , wherein the at least two wave motions are respectively associated with informations which differ from each other such that the plurality of wave motions are encoded to include predetermined identification information, and the transmitting portion transmits, as the transmission wave, the encoded plurality of wave motions.

8. The object detection apparatus according to claim 2 , wherein the at least two wave motions are respectively associated with informations which differ from each other such that the plurality of wave motions are encoded to include predetermined identification information, and the transmitting portion transmits, as the transmission wave, the encoded plurality of wave motions.

9. The object detection apparatus according to claim 1 , further comprising:

a correlation processing portion configured to obtain a correlation value corresponding to a degree of similarity of the transmission wave and the corrected reception wave to each other, wherein

on the basis of a comparison result of the correlation value and a threshold value with each other, the detection portion detects the information related to the object in a case where the degree of similarity of the transmission wave and the corrected reception wave to each other is determined to be at a level equal to or greater than a predetermined level.

10. The object detection apparatus according to claim 9 , wherein the detection portion detects, as the information related to the object, a distance to the object on the basis of a difference between a timing at which the transmission wave was transmitted and a timing at which the reception wave serving as a basis of the corrected reception wave of which the degree of similarity relative to the transmission wave is determined to be at the level equal to or greater than the predetermined level was received.

11. The object detection apparatus according to claim 1 , wherein the at least two frequencies of the transmission wave are respectively set within ranges of at least two bands formed by virtually dividing the predetermined frequency band, and the at least two bands do not overlap each other.

12. The object detection apparatus according to claim 1 , wherein

the transmitting portion and the receiving portion are configured integrally with each other as a transmitting and receiving portion including a single vibrator configured to transmit and receive a sound wave; and

the predetermined frequency band is set in accordance with specifications of the vibrator.