OBSTACLE DETECTION DEVICE, AND MOVING BODY WITH THE SAME

摘要

PROBLEM TO BE SOLVED: To determine interference between a moving body and an obstacle in three dimensions while suppressing computational complexity from being excessive.SOLUTION: An obstacle detection device includes: a moving body shape storage part 48 which stores a shape of a moving body; an obstacle storage part 46 which stores a position and a shape of an obstacle present in a movement region; and an interference determination part 38 which determines interference between the moving body and obstacle based upon position information on the moving body, the shape of the moving body stored in the moving body shape storage part, and the position and shape of the obstacle stored in the obstacle storage part. The moving body shape storage part stores a shape of the moving body in each of layers obtained by dividing the moving body into a plurality in a height direction. The obstacle storage part stores a two-dimensional map storing a position and a shape of the obstacle in each of the plurality of layers. The interference determination part determines the interference between the moving body and obstacle using a shape of the moving body in each of the plurality of layers, and a two-dimensional map of the obstacle in the layer.