| 摘要 |
An obstacle detection device mountable on a surface of a movable body includes a transmitting portion for transmitting a transmitting wave, a receiving portion for receiving a reflected wave from an obstacle, a distance calculating portion, a direction calculating portion, a distance storing portion, a direction storing portion, a distance change calculating portion, a direction change calculating portion, and a determining portion. The determining portion determines a shape of the obstacle and a relative position of the obstacle to the movable body based on a direction of the obstacle calculated by the direction calculating portion, the amount of distance change calculated by the distance change calculating portion, and the amount of direction change calculated by the direction change calculating portion.
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