| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device capable of discriminating a virtual image when the position of an obstacle calculated by using the principle of trigonometrical measurement is the virtual image of the obstacle. ! SOLUTION: Two sensors 21, 22 for transmitting ultrasonic waves to the periphery thereof and receiving reflection waves of the ultrasonic waves reflected by obstacles 101, 102 are mounted in a vehicle. A lateral position of the obstacle is calculated with the principle of the trigonometrical measurement on the basis of a reflection wave received by the P sensor 21 from the ultrasonic wave transmitted from the P sensor 21 as a direct detection sensor, a reflection wave received by the Q sensor 22 as an indirect detection sensor and the interval between the sensors 21, 22. Then, the direct detection sensor is switched to the Q sensor 22 and the indirect detection sensor is switched to the P sensor 21 to calculate the lateral position of the obstacle. In the case in which |
