A transmission/reception control device is configured to control transmission and reception in an ultrasonic sensor. The ultrasonic sensor includes an ultrasonic transducer. The ultrasonic transducer is configured to transmit a probe wave as an ultrasonic wave and receive a reception wave. The reception wave includes a reflected wave of the probe wave. The transmission/reception control device includes a transmission frequency setting unit, a reception signal processing unit, and an object detection unit. The transmission frequency setting unit sets a frequency of the probe wave to a transmission frequency different from a resonance frequency of the ultrasonic transducer. The reception signal processing unit processes a reception result of the reception wave based on the probe wave transmitted with the transmission frequency. The object detection unit detects the object based on a result of processing by the reception signal processing unit.