Patent ID: 10921429

Abstract:
An obstacle detection device (10) is provided with a distance measurement sensor (11) which measures a detection distance to an object to be detected, a detection image generation unit (30a) which generates a detection image indicating a presence of the object to be detected in a detection range, based on a result of measurement by the distance measurement sensor (11), a rainfall determination unit (30b) which performs a rainfall determination of whether or not a region in the detection range is in a rainfall state, a rain removal processing unit (30c) which executes a rain removal process for removing the isolated points from the detection image, and an obstacle determination unit (30d) which performs an obstacle determination of whether or not the object to be detected is an obstacle. The obstacle determination unit (30d) performs the obstacle determination, based on the detection image on which the rain removal process is performed by the rain removal processing unit (30c), in a case where a region is determined to be in the rainfall state by the rainfall determination unit (30b).