JP6249746B2 - Obstacle detection device - Google Patents

Description

  The present invention relates to an obstacle detection device that detects an obstacle present around a vehicle.

  Distance sensors (ultrasonic waves, lasers, etc.) that detect obstacles around the vehicle react to road surface irregularities, and even drive low-level objects that cannot become obstacles (car stops, curbs, etc.) There were cases where inconvenient information was given. In addition, in the erroneous start countermeasure system using such a distance sensor, an unnecessary operation is performed in an unexpected situation such as an engine stop operation or a brake operation when the vehicle is stopped.

Therefore, an obstacle detection device that distinguishes a low object that cannot become an obstacle and a high object that becomes an obstacle has been proposed.
For example, in Patent Document 1, two distance sensors are arranged in the horizontal direction with respect to the road surface, two distance sensors are arranged in the vertical direction, and the distance sensor arranged in the horizontal direction is used for triangulation. Identify the horizontal position (azimuth) of the obstacle. Furthermore, the height of the obstacle is detected using a distance sensor arranged in a direction perpendicular to the amount of movement of the vehicle.

  Further, for example, in Patent Document 2, when the change in the level of the reflected wave from the obstacle is negative as the vehicle approaches the obstacle (that is, when the level decreases), the obstacle is identified as a short obstacle, If the level change is positive, it is determined as a tall obstacle.

International Publication No. 2012/140769 Pamphlet JP 2010-197351 A

  In the configurations of Patent Documents 1 and 2 described above, it is necessary to use the moving amount of the vehicle as a parameter in order to determine the height of the obstacle, and there is a problem that the height cannot be determined when the vehicle is stopped.

  In Patent Document 1, four distance sensors are required to determine the azimuth and height of an obstacle, so that the cost is increased, and the installation and adjustment of the sensor are also required.

  The present invention has been made in order to solve the above-described problems, and uses a conventional mounting position of a distance sensor (particularly, a corner sensor) to increase the height of an obstacle regardless of the running / stopping state of the vehicle. An object of the present invention is to provide an obstacle detection device capable of determining the height.

The obstacle detection device according to the present invention includes two or more distance sensors installed in a vehicle, a transmission / reception unit that drives the distance sensor to transmit an exploration wave and receives a reflected wave reflected by the obstacle, and transmission / reception A distance measurement unit that measures the distance from the distance sensor to the obstacle based on the transmission / reception result of the unit, and any two or more distance sensors that have different installation positions in at least one direction in the front-rear direction or the height direction of the vehicle For two, if the absolute value of the distance difference measured by the distance measuring unit is larger than the threshold, it is determined as a relatively low obstacle, and if the absolute value of the distance difference is less than or equal to the threshold, the obstacle is relatively high A distance measurement unit for two of the height determination unit and the two or more distance sensors having the same installation position in the front-rear direction and the height direction and having the left-right installation position farthest among the two or more distance sensors. If the distance measured by is the same In, and a width determination unit that instructs to perform the height determination in the height determination unit, the height determining unit, those comprising a determination in accordance with an instruction from the width determination unit.

  According to the present invention, the distance to an obstacle is measured using two distance sensors having different installation positions in at least one direction in the front-rear direction or height direction of the vehicle, and the absolute value of the difference between the measured distances is a threshold value. If it is larger, it is judged as a relatively low obstacle, and if the absolute value of the difference in distance is less than or equal to the threshold value, it is judged as a relatively high obstacle. Thus, it is possible to provide an obstacle detection device that can determine the height of an obstacle regardless of the running / stopping state of the vehicle.

It is a block diagram which shows the structure of the obstruction detection apparatus which concerns on Embodiment 1 of this invention. It is a figure explaining the vehicle installation example of the distance sensor which the obstacle detection apparatus which concerns on Embodiment 1 uses. It is a figure explaining another vehicle installation example of the distance sensor which the obstacle detection apparatus which concerns on Embodiment 1 uses. It is a figure explaining another vehicle installation example of the distance sensor which the obstacle detection apparatus which concerns on Embodiment 1 uses. It is a conceptual diagram explaining the beam path | route of the ultrasonic wave of the distance sensor of A group. It is a conceptual diagram explaining the height determination process of an obstruction based on the distance information of the distance sensor of A group. It is a conceptual diagram explaining the height determination process of an obstruction based on the distance information of the distance sensor of B group. It is a conceptual diagram explaining the height determination process of an obstruction based on the distance information of the distance sensor of C group. It is a flowchart which shows operation | movement of the obstruction detection apparatus which concerns on Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the obstruction detection apparatus which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the obstruction detection apparatus which concerns on Embodiment 4 of this invention.

Embodiment 1 FIG.
As shown in FIG. 1, the obstacle detection device 10 detects an obstacle existing around the vehicle, and includes a transmission / reception unit 11 that drives at least two distance sensors 1 to 4 installed in the vehicle. Based on the determination result, the distance measuring unit 12 that detects the distance to the obstacle based on the output signal of the transmission / reception unit 11, the height determining unit 13 that determines the height of the obstacle based on the distance information, and It is comprised from the control part 14 which performs vehicle control and alarm output with respect to the vehicle actuator 101 and the alarm output device 102. FIG.

The transmission / reception unit 11, the distance measurement unit 12, the height determination unit 13, and the control unit 14 constituting the obstacle detection device 10 may be configured as hardware by various electronic circuits, or stored in a memory (not shown). The program may be implemented as software by a CPU (Central Processing Unit) being executed.
For example, ultrasonic sensors, laser sensors, and radar sensors can be used as the distance sensors 1 to 4. In the first embodiment, an ultrasonic distance sensor is used.

Here, a vehicle installation example of the distance sensor will be described with reference to FIGS. FIG. 2A is a plan view of the vehicle 100, and FIG. 2B is a front view showing the front portion of the vehicle 100. In the example of FIG. 2, the distance sensors 1 a to 4 a are installed on the front part of the vehicle 100 in the left and right rows and at the same height. However, since the distance sensors 1a and 4a (corner sensors) are arranged along the curved surfaces of the left and right ends (corner parts) of the front part, the distance sensors 2a and 3a (center sensors) arranged at the center of the front part. It is in a deep position compared to.
These distance sensors 1a to 4a transmit ultrasonic waves (exploration waves) from the front part toward the front of the vehicle to detect obstacles in front of the vehicle.

  FIG. 3 shows another installation example. FIG. 3A is a plan view of the vehicle 100, and FIG. 3B is a front view showing the front portion of the vehicle 100. In the example of FIG. 3, the distance sensors 1 b to 4 b are installed on the front portion of the vehicle 100 so as to be low, high, high, and low in the left-right direction. Similar to the example of FIG. 2, the distance sensors 1b and 4b are located deeper than the distance sensors 2b and 3b.

  FIG. 4 shows another installation example. 4A is a plan view of the vehicle 100, and FIG. 4B is a front view showing the front portion of the vehicle 100. In the example of FIG. 4, the distance sensors 1 c to 4 c are installed on the front portion of the vehicle 100 in a staggered arrangement of high, low, high, and low in the left-right direction. Similar to FIGS. 2 and 3, the distance sensors 1c and 4c are located deeper than the distance sensors 2c and 3c.

The arrangement of the distance sensors is not limited to the examples in FIGS. 2 to 4, and the number of installed distance sensors may be at least two.
Furthermore, the obstacle detection device 10 can also use two or more distance sensors (not shown) installed in the rear part of the vehicle 100.

In the first embodiment, among the four distance sensors 1 to 4 (or 1a to 4a, 1b to 4b, and 1c to 4c) installed in the vehicle 100, the height direction and the front-rear direction (depth direction) are selected. At least one distance sensor having different installation positions is used to detect a high object that becomes an obstacle.
Conventionally, the height and depth at which the distance sensor is installed are often different between the corner portion and the center portion of the vehicle 100, so that the installation position can be diverted, and in order to realize the first embodiment, the distance sensor is installed. There is no need to change the position.

Next, the operation of the obstacle detection device 10 will be described.
In this description, two distance sensors having different installation positions in the left-right direction, installation position in the height direction, and installation position in the front-rear direction (depth direction) are used. The two distance sensors installed in this way are referred to as A group.

  FIG. 5 is a conceptual diagram illustrating the ultrasonic beam path of the distance sensors 1 and 2 of the A group. The distance sensors 1 and 2 are installed at heights H1 and H2 (H1> H2) from the road surface. The distance sensor 2 is offset from the distance sensor 1 by Xoff in the vehicle front-rear direction (depth direction). Further, the distance from the vibration surface of the distance sensor 1 to an obstacle such as the wall 90 and the curb 91 is Lx.

Note that there is no correspondence between the distance sensors 1 and 2 in the A group and the distance sensors 1a, 2a, 1b, 2b, 1c, and 2c shown in FIGS.
Examples of combinations of distance sensors corresponding to the A group include one set of distance sensors 1b and 2b in FIG. 3, one set of distance sensors 3b and 4b in FIG. 3, one set of distance sensors 1b and 3b in FIG. There are one set of distance sensors 2b and 4b in FIG. 3, one set of distance sensors 1c and 2c in FIG. 4, one set of distance sensors 3c and 4c in FIG.
However, the distance sensor of the A group may have the same installation position in the left-right direction.

In FIG. 5, a part of the ultrasonic wave transmitted from the vibration surface of the distance sensor 1 is reflected by the ultrasonic radiation area 81 of a tall obstacle such as the wall 90 and returns to the vibration surface. Further, a part of the ultrasonic wave transmitted from the vibration surface of the distance sensor 1 is reflected on the road surface, reflected on the side surface of a short obstacle such as the curb 91, and follows a return path returning to the vibration surface.
A part of the ultrasonic wave transmitted from the vibration surface of the distance sensor 2 is reflected by the ultrasonic radiation area 82 of the wall 90 and returns to the vibration surface. Although the illustration of the reflection path is omitted, a part of the ultrasonic wave transmitted from the vibration surface of the distance sensor 2 is reflected on the road surface and reflected on the side surface of a short obstacle such as the curbstone 91 to the vibration surface. Follow the return path.

In the obstacle detection device 10 of the first embodiment, the height position of the distance sensors 1 and 2, that is, the detection height Have of the ultrasonic radiation areas 81 and 82 of the distance sensors 1 and 2 (shown in FIG. 5). Obstacles that are taller and taller than the average value of H1 and H2 are discriminated.
Hereinafter, Have is referred to as detection height.

  FIG. 6 is a conceptual diagram illustrating processing for determining the height of an obstacle based on the distance information of the distance sensors 1 and 2 of the A group. When the obstacle detection device 10 performs obstacle detection using the distance sensors 1 and 2 of the A group, the transmission / reception unit 11 first drives the distance sensors 1 and 2 to transmit and receive ultrasonic waves. Subsequently, the distance measurement unit 12 determines whether the distance sensors 1 and 2 to the obstacle based on the heights H1 and H2 of the distance sensors 1 and 2, the offset Xoff in the depth direction, and the time from ultrasonic transmission to reception of the reflected wave. Are calculated respectively. Subsequently, the height determination unit 13 determines whether or not the following expressions (1) and (2) are satisfied, and when the expression (1) is satisfied, an obstacle (wall) that is taller than the detected height Have. 90, etc., and when the formula (2) is satisfied, it is determined that the obstacle is lower than the detected height Have (curbstone 91, etc.).

    −TH ≦ (L1u + Xoff) −L2u ≦ TH (1)

(L1d + Xoff) −L2d <−TH
Or, (L1d + Xoff) −L2d> TH (2)

  Here, L1u is the distance from the distance sensor 1 to the wall 90, L2u is the distance from the distance sensor 2 to the wall 90, L1d is the distance from the distance sensor 1 to the curb 91, and L2d is the distance from the distance sensor 2 to the curb 91 It is. TH is a threshold value for determining whether the obstacle is higher or lower than the detected height Have, and is, for example, a value obtained by adding the detection error of the distance sensors 1 and 2 to the offset Xoff in the depth direction.

  When the height determination unit 13 determines that the obstacle is taller than the detected height Have (such as the wall 90), the control unit 14 determines that the obstacle is a tall obstacle that may collide with the vehicle 100. Then, the vehicle actuator 101 is controlled to operate the brake to stop the vehicle 100, to operate the steering to change the traveling direction, to output an alarm from the alarm output device 102, and to alert the occupant.

Next, a case where two distance sensors having different installation positions in the left-right direction and installation positions in the height direction are used will be described. The two distance sensors installed in this way are referred to as B group.
FIG. 7 is a conceptual diagram illustrating processing for determining the height of an obstacle based on the distance information of the distance sensors 1 and 3 of the B group.
Note that there is no correspondence between the distance sensors 1 and 3 of the B group and the distance sensors 1a, 3a, 1b, 3b, 1c, and 3c shown in FIGS.
Examples of combinations of distance sensors corresponding to the B group include one set of distance sensors 2c and 3c in FIG. 4 and one set of distance sensors 1c and 4c in FIG.
However, the distance sensor of the B group may have the same installation position in the left-right direction.

As shown in FIG. 7, the distance sensors 1 and 3 are installed side by side at heights H1 and H2 from the road surface. Further, the offset Xoff = 0 in the depth direction of the distance sensors 1 and 3 is zero. When the obstacle detection device 10 performs obstacle detection using the distance sensors 1 and 3 of the B group, the same operation as that of the A group (FIG. 6) is performed.
However, in the above formulas (1) and (2), Xoff = 0. L2u represents the distance from the distance sensor 3 to the wall 90, and L2d represents the distance from the distance sensor 3 to the curb 91.

Next, a case where two distance sensors having different installation positions in the left-right direction and installation positions in the depth direction are used will be described. The two distance sensors installed in this way are referred to as C group.
FIG. 8 is a conceptual diagram illustrating processing for determining the height of an obstacle based on the distance information of the distance sensors 1 and 4 of the C group.
Note that there is no correspondence between the distance sensors 1 and 4 of the C group and the distance sensors 1a, 4a, 1b, 4b, 1c, and 4c shown in FIGS.
Examples of combinations of distance sensors corresponding to group C include, for example, one set of distance sensors 1a and 2a in FIG. 2, one set of distance sensors 1a and 3a in FIG. 2, one set of distance sensors 2a and 4a in FIG. There are one set of distance sensors 3a and 4a in FIG. 2, one set of distance sensors 1c and 3c in FIG. 4, one set of distance sensors 2c and 4c in FIG.

As shown in FIG. 8, the distance sensors 1 and 4 are installed side by side in the left-right direction at the same height H1 from the road surface. The distance sensor 4 is offset from the distance sensor 1 by Xoff in the depth direction. When the obstacle detection device 10 performs obstacle detection using the distance sensors 1 and 4 of the C group, the same operation as that of the A group (FIG. 6) is performed.
In the above equations (1) and (2), L2u represents the distance from the distance sensor 4 to the wall 90, and L2d represents the distance from the distance sensor 4 to the curb 91.

  As described above, according to the first embodiment, the obstacle detection device 10 transmits two or more distance sensors 1 to 4 installed in the vehicle 100 and the distance sensors 1 to 4 to transmit exploration waves, The transmission / reception unit 11 that receives the reflected wave reflected by the obstacle, the distance measurement unit 12 that measures the distance from the distance sensor 1 to 4 based on the transmission / reception result of the transmission / reception unit 11, and the distance sensors 1 to 4 Among these, for any two of the vehicles 100 having different installation positions in the front / rear (depth) or height direction of the vehicle 100, the relative value of the distance difference measured by the distance measurement unit 12 is relatively larger than the threshold value TH. It is determined that the obstacle is a low obstacle (curbstone 91 or the like), and includes a height determination unit 13 that determines a relatively high obstacle (wall 90 or the like) if the absolute value of the distance difference is equal to or less than the threshold value TH. did. Therefore, it is possible to provide an obstacle detection device 10 that can determine the height of an obstacle regardless of the running / stopped state of the vehicle by using distance sensors having different installation positions such as a corner sensor and a center sensor. it can.

  Further, according to the first embodiment, the obstacle detection apparatus 10 includes the control unit 14 that controls the vehicle 100 or outputs an alarm according to the determination result of the height determination unit 13. For this reason, an unnecessary brake operation or alarm output can be suppressed for a short obstacle that does not possibly collide with the vehicle 100.

Embodiment 2. FIG.
Since the obstacle detection device 10 according to the second embodiment has the same configuration as the obstacle detection device 10 shown in FIG. 1 on the drawing, the following description will be given with reference to FIG.
In the second embodiment, a set of two distance sensors is used to make a final determination after repeating the obstacle height determination a plurality of times.

FIG. 9 is a flowchart showing the operation of the obstacle detection apparatus 10 according to the second embodiment. Here, the case where the distance sensors 1 and 2 of the A group shown in FIGS. 5 and 6 are used will be described as an example.
First, the transmission / reception unit 11 drives the distance sensors 1 and 2 of the A group to transmit and receive ultrasonic waves, and the distance measurement unit 12 calculates distance information from the distance sensors 1 and 2 to the obstacle (step ST1). Subsequently, the height determination unit 13 determines whether the obstacle is higher or lower than the detected height Have (for example, shown in FIG. 5) based on the distance information (step ST2). The height determination unit 13 repeats the height determination of steps ST1 and ST2 n times (step ST3 “YES”), and then performs an overall height determination of the obstacle (step ST4). In this step ST4, for example, if the determination result that the obstacle is higher than the detected height Have has been continued for a predetermined number of times, the height determining unit 13 finally determines that the obstacle is taller than the detected height Have. . On the other hand, if the determination result that the obstacle is lower than the detected height Have has been continued for a predetermined number of times, it is finally determined that the obstacle is shorter than the detected height Have.

  FIG. 9 shows an operation example using the distance sensors 1 and 2 of the A group, but the same applies to the case of using the distance sensors of other groups.

  As described above, according to the second embodiment, the height determination unit 13 repeats the obstacle height determination for two of the distance sensors 1 to 4 and the same determination result continues for a predetermined number of times. In this configuration, the determination result is adopted. For this reason, the robustness of the height determination function is improved.

Embodiment 3 FIG.
The obstacle detection device 10 according to Embodiment 3 has the same configuration as the obstacle detection device 10 shown in FIG. 1 on the drawing, and will be described below with reference to FIG.
In the third embodiment, a plurality of distance sensors are used to determine the height of an obstacle, and a final determination is made.

FIG. 10 is a flowchart showing the operation of the obstacle detection apparatus 10 according to the third embodiment. Here, the distance sensors 1 and 2 of the A group shown in FIGS. 5 and 6, the distance sensors 1 and 3 of the B group shown in FIG. 7, and the distance sensors 1 and 4 of the C group shown in FIG. The case of using will be described as an example.
The transmission / reception unit 11 drives the distance sensors 1 and 2 of the A group to transmit and receive ultrasonic waves, and the distance measurement unit 12 calculates distance information from the distance sensors 1 and 2 to the obstacle (step ST11). Subsequently, the height determination unit 13 determines whether the obstacle is higher or lower than the detected height Have (for example, shown in FIG. 5) based on the distance information (step ST12).

The obstacle detection device 10 calculates the distance to the obstacle for the distance sensors 1 and 3 of the B group as well as the A group, determines the height (steps ST13 and ST14), and the distance sensor of the C group. For 1 and 4, the distance to the obstacle is calculated to determine the height (steps ST15 and ST16).
The A group processing (steps ST11 and ST12), the B group processing (steps ST13 and ST14), and the C group processing (steps ST15 and ST16) may be performed in parallel or sequentially. Also good.

  Finally, the height determination unit 13 finally determines that the obstacle is taller / lower than the detected height Have by the majority of the determination results of the groups A to C (step ST17).

  Instead of the processing of steps ST11 and ST12, the processing of steps ST1 to ST4 in FIG. 9 of the second embodiment may be performed to obtain the determination result of the A group. The same applies to the B and C groups.

  As described above, according to the third embodiment, the height determination unit 13 performs obstacle height determination for each of a plurality of sets of distance sensors 1 to 4 that have been changed in combination, and by majority determination of the determination results of the plurality of sets. The final height judgment is performed. For this reason, the robustness of the height determination function is improved.

Embodiment 4 FIG.
In the obstacle detection device 10 according to the first to third embodiments, the installation distance in the vehicle left-right direction of the set of two distance sensors to be used and the width of the detectable obstacle (length in the vehicle left-right direction) are: It is almost the same. Therefore, since obstacles such as walls and curbs are wide, for example, when distance sensors 1a and 2a having a narrow installation interval in the left-right direction of vehicle 100 in FIG. 2 are used, distance sensors 1a and 4a having a wide installation interval are used. The height can also be determined when using. As described above, the obstacle detection device 10 uses a set of two corner sensors (for example, the distance sensors 1a and 4a in FIG. 2) installed in the conventional vehicle 100, and the width of walls, curbs, and the like. The height of a wide obstacle can be determined.

On the other hand, a narrow obstacle such as a pole cannot be detected if it is outside the ultrasonic irradiation area of the distance sensors 1a and 4a, and the height cannot be determined correctly.
Therefore, in the obstacle detection device 10 according to the fourth embodiment, when the height of an obstacle is determined using a corner sensor, the width of the obstacle is confirmed in advance.

FIG. 11 is a block diagram illustrating a configuration of the obstacle detection apparatus 10 according to the fourth embodiment. The obstacle detection device 10 according to the fourth embodiment further includes a width determination unit 15, and the obstacle whose width is wider or narrower than the width of the vehicle 100, that is, the height that can be correctly determined by the height determination unit 13. Determine if it is an object.
In FIG. 11, the same or corresponding parts as those in FIGS. 1 to 10 are denoted by the same reference numerals, and the description thereof is omitted.

  Of the distance sensors 1 to 4 installed in the vehicle 100, the width determination unit 15 has the same installation position in the height direction and installation position in the depth direction, and has the widest installation interval in the left-right direction. For distance sensors (for example, distance sensors 1a and 4a shown in FIG. 2), distance information from the distance sensor to the obstacle is acquired from the distance measuring unit 12. If the distance from the two distance sensors to the obstacle is the same, the width determination unit 15 determines that the obstacle is wider than the installation distance in the left-right direction of the two distance sensors. The height determination unit 13 is instructed to perform the height determination. On the other hand, when the distances are not the same, the width determination unit 15 determines that the obstacle is narrower than the installation interval in the left-right direction of the two distance sensors, and does not perform the height determination of the obstacle ( Alternatively, the height determination unit 13 is instructed to perform the height determination by a method other than those in the first to third embodiments.

  As described above, according to the fourth embodiment, the obstacle detection device 10 has the same installation position in the front-rear (depth) and height directions of the vehicle 100 among the distance sensors 1 to 4 and the installation position in the left-right direction. When the distance measured by the distance measuring unit 12 is the same for the two most distant from each other, the width determining unit 15 is configured to issue an instruction to cause the height determining unit 13 to perform height determination. For this reason, the reliability of height determination improves.

  The width determination unit 15 does not need to determine whether or not the distances from the two distance sensors to the obstacle are exactly the same, and the difference in detection error between the two distance sensors and the installation position in the depth direction. It may be determined whether or not the distances can be regarded as the same using a threshold value in consideration of the above.

  In addition to the above, within the scope of the present invention, the present invention can be freely combined with each embodiment, modified any component of each embodiment, or omitted any component in each embodiment. Is possible.

  1-4, 1a-4a, 1b-4b, 1c-4c Distance sensor, 10 Obstacle detection device, 11 Transmission / reception unit, 12 Distance measurement unit, 13 Height determination unit, 14 Control unit, 15 Width determination unit, 81, 82 Ultrasonic radiation area, 90 walls, 91 curb, 100 vehicle, 101 vehicle actuator, 102 alarm output device.

Claims (5)

Two or more distance sensors installed in the vehicle;
A transmission / reception unit that drives the distance sensor to transmit an exploration wave and receives a reflected wave reflected by an obstacle; and
A distance measurement unit that measures a distance from the distance sensor to the obstacle based on a transmission / reception result of the transmission / reception unit;
Of the two or more distance sensors, the absolute value of the difference between the distances measured by the distance measurement unit is greater than a threshold value for any two of the two or more distance sensors having different installation positions in the front-rear direction or the height direction. A height determination unit that determines that the obstacle is relatively low, and determines that the obstacle is relatively high if the absolute value of the difference in distance is equal to or less than the threshold value ;
Of the two or more distance sensors, the distance measured by the distance measuring unit is the same for two of the two vehicles having the same installation position in the front-rear and height directions of the vehicle and having the left-right installation position farthest apart. A width determination unit that issues an instruction to cause the height determination unit to perform height determination.
The obstacle detection device, wherein the height determination unit performs determination according to an instruction from the width determination unit.   The height determination unit repeats the obstacle height determination for the two arbitrary distance sensors, and adopts the determination result when the same determination result continues a predetermined number of times. The obstacle detection device described.   The height determination unit performs a height determination of the obstacle for each of a plurality of sets obtained by changing the combination of the arbitrary two distance sensors, and performs a final height determination by majority of the determination results of the plurality of sets. The obstacle detection device according to claim 1, wherein the obstacle detection device is performed. The obstacle detection device according to any one of claims 1 to 3 , further comprising a control unit that controls the vehicle or outputs an alarm according to a determination result of the height determination unit. . The obstacle detection device according to any one of claims 1 to 4 , wherein the distance sensor is an ultrasonic type, a laser type, or a radar type.

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