PROBLEM TO BE SOLVED: To prevent an occupant from being confused by a plurality of notifications when detecting and notifying an obstacle existing around a movement support vehicle, and to avoid the obstacle after the passenger receives the notification. Provided is an "obstacle notification device and an obstacle notification method" capable of ensuring a time margin necessary for doing so. SOLUTION: A distance difference calculation unit 13 that calculates a distance difference between a recent obstacle detected at a position closest to a mobility assisted vehicle and another obstacle, and an obstacle that determines a type of the latest obstacle and another obstacle. It is provided with a type determination unit 12 and a notification control unit 14 that performs a notification about either an obstacle or another obstacle recently according to the distance difference and the type of each obstacle, and is located around the mobility assisted vehicle. Not only all of the obstacles, but only the notification about the recent obstacles or other obstacles appropriately selected according to the distance difference between the obstacles and other obstacles and the type of each obstacle. To be done. [Selection diagram] Figure 1【課題】移動支援自動車の周囲に存在する障害物を検出して報知する際に、複数の報知によって搭乗者に混乱を与えることを抑制するとともに、搭乗者が報知を受けてから障害物を回避するために必要な時間的余裕を確保可能にする「障害物報知装置および障害物報知方法」を提供する。【解決手段】移動支援自動車から最も近い位置で検出された最近障害物と他障害物との距離差を算出する距離差算出部１３と、最近障害物および他障害物の種類を判定する障害物種類判定部１２と、その距離差および各障害物の種類に応じて、最近障害物または他障害物の何れか一方についての報知を行う報知制御部１４とを備え、移動支援自動車の周囲にある複数の障害物の全てではなく、最近障害物と他障害物との距離差および各障害物の種類に応じて適切に選択された最近障害物または他障害物の何れか一方についての報知のみが行われるようにする。【選択図】図１
