To detect an object included in a detection range of a radar device regardless of a moving velocity of the object.

An object detection device comprises: a sending section; a receiving section; a moving object detection section; and an infinitesimally moving object detection section. The sending section sends a radar pulse. The receiving section receives a reflected wave of the radar pulse from an object. The moving object detection section detects a moving object by analyzing a received signal received by the receiving section during first time. The infinitesimally moving object detection section detects an infinitesimally moving object with a moving distance much smaller than the moving object by analyzing the received signal received by the receiving section during second time which is longer than the first time.