OBSTACLE DETERMINATION DEVICE

PROBLEM TO BE SOLVED: To carry out appropriate determination processing according to conditions around an obstacle determination device, by considering improvement of detection accuracy of an obstacle existing in the periphery and possibilities of erroneous determination.SOLUTION: An obstacle determination unit (31) sets a threshold indicating a distance from distance measuring devices (2a and 2b), at a position separated by a predetermined distance from the distance measuring devices. The obstacle determination unit determines that an obstacle is present, in any case when an obstacle is detected within a distance range of the threshold by at least one of the distance measuring devices (2a and 2b), or when an obstacle is detected in a distance range exceeding the threshold by both the two distance measuring devices (2a and 2b). Further, the obstacle determination unit determines that an obstacle is not present, in any case when an obstacle is not detected within the distance range of the threshold or less, or when an obstacle is detected in a distance range exceeding the threshold by one of the distance measuring devices (2a and 2b).SELECTED DRAWING: Figure 1 【課題】周囲に存在する障害物の検出精度の向上と誤判定の可能性とを考慮して、障害物判定装置の周囲の条件に合わせて適切な判定処理を行うようにする。【解決手段】障害物判定部（３１）は、測距装置（２ａ，２ｂ）から所定の距離離れた位置に、測距装置からの距離を示す閾値を設定し、少なくとも１つの測距装置（２ａ，２ｂ）で、閾値以下の距離範囲に障害物が検出された場合、および２つの測距装置（２ａ，２ｂ）の両方で閾値を超えた距離範囲に障害物が検出された場合のいずれかの場合に、障害物が有るものと判定する。また、閾値以下の距離範囲に障害物が検出されない場合、およびいずれか１つの測距装置（２ａ，２ｂ）で、閾値を超えた距離範囲に障害物が検出された場合のいずれかの場合に、障害物が無いものと判定する。【選択図】図１