| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device for vehicle which suppresses erroneous detection due to a secondary echo and multiple reflection waves when detecting an obstacle existing in the periphery of the own vehicle.SOLUTION: An ultrasonic sensor 102 emits an ultrasonic wave to the front side of the own vehicle and receives a reflection wave reflected by the obstacle. The signal of the received reflection wave is input to a sensing processing part 1032. A delay time measuring part 10321 detects the peak of the received signal and measures the delay time of the detected peak with the timing at which the ultrasonic sensor emits the ultrasonic wave as a reference. A multiple reflection determination part 10322 determines whether or not multiple reflection due to the obstacle occurs on the basis of the delay time of the peak. An obstacle determination part 10323 determines the presence/absence of the obstacle on the basis of the delay time of the peak and the determination result of the multiple reflection determination part 10322. |
