| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device for detecting an obstacle on a path with a reduced arithmetic amount and to provide a moving body including the obstacle detection device.SOLUTION: An obstacle detection device 56 includes a distance information detection part 21 which detects distance information up to an object in front of a vehicle 1, a parallax image generation part 23 which creates a parallax image in front of the vehicle 1, a path position information storage part 25 which stores path position information specifying a path Tr on the parallax image according to the position of the vehicle 1 from a start position So, a position estimation part 27 which estimates the position of the vehicle 1 on the path Tr, an on-path parallax image extraction part 66 which extracts the parallax image on the path Tr by the estimated position and the path position information, and an obstacle detection part 31' which detects the obstacle on the basis of the parallax image on the path. The path position information is specified by the distance information and the coordinate information in the horizontal direction of the vehicle 1.SELECTED DRAWING: Figure 12 |
