| 摘要 |
An obstacle detection device includes a transmitting portion for sending ultrasonic wave, a plurality of receiving portions provided at different positions and receiving reflected waves of the ultrasonic wave, a plurality of envelope wave acquiring portions for acquiring envelope waves corresponding to the reflected waves, on the basis of the reflected waves received by the receiving portions, determining portions for determining a peak of each of the envelope waves, storing portions for storing a partial data of the each of the envelope waves, whose peak is determined by the determining portions, estimating portions for estimating a starting point of the each of the envelope waves by using the partial and location determining portions for determining a location of an obstacle on the basis of the starting point of the each of the envelope waves.
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