OBJECT DETECTION APPARATUS AND VEHICLE CONTROL APPARATUS

A object detection apparatus classifies point cloud data acquired by a LiDAR into moving point cloud data and stationary point cloud data other than the moving point cloud data; stores the moving point cloud data in the memory for each point cloud frame; offsets a position of each measurement point included in the moving point cloud data of past point cloud frames, based on a moving speed and a moving direction of each measurement point estimated based on speed information of the measurement point; when the moving point cloud data is classified from newly acquired point cloud data by the LiDAR, superimposes the offset moving point cloud data of the past frames onto the moving point cloud data; and detects the moving object based on the moving point cloud data after the superimposition.