An object detection apparatus includes distance measuring devices and a hardware processor. The distance measuring devices are provided in a vehicle and emit ultrasonic waves. The distance measuring devices detect an object around the vehicle and obtain distance information indicating a distance to the detected object. The hardware processor determines a scene in which the vehicle is placed. The determination is performed on the basis of the distance information, vehicle speed information, an image of surroundings of the vehicle, and/or a location of the vehicle on a map. The hardware processor performs, on the basis of a scene determination result, setting of a high-sensitivity area where sensitivity for detecting the reflected waves is temporarily increased, a change of an emission interval of the ultrasonic waves, and/or a change of an emission sequence of the ultrasonic waves.