| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device capable of determining the kind of an obstacle existing in the periphery of a moving body, without providing an exclusive ultrasonic sensor corresponding to the kind of the obstacle. SOLUTION: The obstacle detection device 100 for detecting an obstacle 10 by using an ultrasonic wave has a configuration equipped with an ultrasonic sensor 110 for transmitting a pulsing ultrasonic wave as a transmission wave to the periphery of the moving body, receiving a reflection wave of the transmission wave by the obstacle 10, and outputting a received signal corresponding to the intensity of the reflection wave; a reflection state detection means 120 for detecting the number of the reflection waves and a peak value of the reflection wave corresponding to the transmission wave based on the received signal; and a determination means 120 for determining existence of the obstacle 10 based on the peak value of the reflection wave, and determining the kind of the obstacle 10 based on a change with time following movement of the moving body of the number of the reflection waves and the magnitude relation between each peak value when the plurality of reflection waves are detected. COPYRIGHT: (C)2008,JPO&INPIT
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