| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle obstacle detection device capable of reducing the degree of a variation in a distance from a sensor attachment surface of a vehicle to a boundary of a notification range depending on a distance to an ultrasonic sensor, and suppressing a discomfort to a notification content representing the direction in which an obstacle has been detected.SOLUTION: A notification control unit determines whether to use a first indirect wave distance (D2) that is a distance to an obstacle calculated by receiving, by an ultrasonic sensor 10RLC, an ultrasonic wave transmitted from an ultrasonic sensor 10RL and a second indirect wave distance (D3) that is a distance to the obstacle calculated by receiving, by the ultrasonic sensor 10RL, an ultrasonic wave transmitted from the ultrasonic sensor 10RLC in determination as to whether to notify a user that the obstacle was detected in a left rear notification area, on the basis of a first direct wave distance (D1) that is a distance to the obstacle calculated by the ultrasonic sensor 10RL by a direct wave and a second direct wave distance (D4) that is a distance to the obstacle calculated by the ultrasonic sensor 10RLC by the direct wave.SELECTED DRAWING: Figure 6 |
