| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an obstacle determination device capable of determining a type of an obstacle at a low cost with a simple configuration, an autonomous mobile device, and an obstacle determination method.SOLUTION: Light is emitted obliquely downward in the front of a mobile device 200 and scans in a horizontal direction. A plurality of pieces of distance data indicative of distances to a plurality of reflection points are generated on the basis of reflected light from objects. The plurality of pieces of distance data are divided into one or more clusters each of which comprises a distance data group. Relative speed information between an object including a plurality of reflection points corresponding to each cluster and the mobile device 200, absolute speed information on the object including the plurality of reflection points, and variance in magnitude of speed of the plurality of reflection points are calculated on the basis of a distance data group included in each cluster. It is determined whether the object including the plurality of reflection points corresponding to each cluster is a stationary obstacle, a moving obstacle, or a road surface, on the basis of relative speed information, absolute speed information, and variance in magnitude of speed about each cluster.</p> |
