| 摘要 |
The present invention makes it possible to distinguish and detect the ground and an obstacle using a simple algorithm and without requiring a complicated structure or algorithm. An obstacle determination device (1) has a distance measurement device (2) for measuring a distance to an object, an obstacle determination unit (33) for determining that there is an obstacle within the distance measurement range of the distance measurement device (2) on the basis of a measurement result for the distance to the object detected by the distance measurement device (2), an acceleration sensor (34) for detecting the downward acceleration of the obstacle determination device (1), and a data removal unit (32) that, if the acceleration detected by the acceleration sensor (34) is at or above a prescribed threshold value, removes at least a portion of the distance measurement results from the distance measurement device (2) from the period of the detection of the acceleration at or above the threshold value. The obstacle determination unit (33) determines whether there is an obstacle using the measurement results after the removal by the data removal unit (32). |
