An object detection apparatus detects an object in a vicinity of a moving body to which it is mounted. In the object detection apparatus, first drive signal and second drive signals for driving a transmitting unit are generated and outputted to the transmitting unit. The first drive signal corresponds to a first transmission wave included in a plurality of transmission waves that are continuously transmitted from a start to an end of a transmission process of the transmission wave, and respectively encoded based on waveform patterns. The second drive signal corresponds to a second transmission wave included in the plurality of transmission waves and transmitted after the first transmission wave. Reception determination regarding the reflected wave is performed based on a frequency signal, corresponding to a waveform pattern of the reception signal, and a reference signal that corresponds to a waveform pattern of the first drive signal.