To provide an obstacle determination device capable of improving the determination accuracy of obstacles, and a vehicle.SOLUTION: An obstacle determination device 100 includes: a first determination unit 110 that determines the difference of propagation distance or propagation time between a first round-trip route of a detection wave between a first position of a moving body and an object and a second round-trip route of a detection wave from the first position to the return to a second position of the moving body different from that of the first position via the object; and a second determination unit 120 that determines whether the object is an obstacle or not based on determination result by the first determination unit.SELECTED DRAWING: Figure 1
【課題】障害物の判定精度を向上させることが可能な障害物判定装置および車両を提供する。【解決手段】障害物判定装置100は、移動体の第1位置と物体との間における検出波の第1往復経路と、第1位置から物体を経由して第1位置とは異なる移動体の第2位置まで戻るまでの検出波の第2往復経路との間の伝搬距離または伝搬時間の差異を判定する第1判定部110と、第1判定部の判定結果に基づいて物体が障害物であるか否かについて判定する第2判定部120と、を備える。【選択図】図1
OBSTACLE DETERMINATION DEVICE AND VEHICLE
障害物判定装置および車両
2022-02-17
Patent
Electronic Resource
Japanese
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