| 摘要 |
PROBLEM TO BE SOLVED: To improve safety of a road or the like by using plural sensors to detect obstacles. SOLUTION: In an obstacle detection method which uses plural sensors 21a and 31a observing the condition on a road to detect obstacles, obstacle detection processing is performed in an independent mode in which each of plural sensors 21a and 31a independently searches and detects obstacles. If a contradiction occurs in obstacle detection among plural sensors 21a and 31, obstacle detection processing is performed in a master-slave mode in which obstacles are searched again by a contradictory sensor. When the contradiction is resolved, obstacle detection processing is performed in a merge mode in which information of plural sensors 21a and 31a are merged to detect attributes of obstacles.
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