Abstract: An object detection apparatus includes: measurement circuitry, which, in operation, measures a first local maximum point of a first reflected wave of an acoustic wave and a second local maximum point of a second reflected wave of the acoustic wave, where the acoustic wave is emitted from an ultrasonic sensor; and target processing circuitry, which, in operation, performs ranging of an object by assuming that the object exists in a position within an error range ½ times a distance to a position of the first local maximum point, in a case where the first local maximum point is closer than a distance within an error range twice a reverberation distance and farther than a distance within an error range of the reverberation distance and in a case where the second local maximum point is a position within an error range 3/2 times the distance to the first local maximum point.

Abstract: A parking support device includes: an acquisition circuit configured to acquire first detection points related to obstacles around a vehicle before setting a parking direction, and acquire second detection points related to the obstacles after setting the parking direction; an analysis circuit configured to calculate first approximate straight lines and first variations for first detection point groups related to the first detection points, and calculate second approximate straight lines and second variations for second detection point groups related to the second detection points; a setting circuit configured to set a parking point based on the first detection points, and set the parking direction based on the first approximate straight lines and the first variations; and a correction circuit configured to correct the parking direction using a correction amount calculated using the second approximate straight lines weighted based on the second variations after setting the parking direction.