PROBLEM TO BE SOLVED: To accurately determine preferential obstacles even where a plurality of obstacles such as level differences, slopes, etc. exist.SOLUTION: The obstacle detection device includes: an obstacle detection section for detecting a plurality of obstacles an obstructive degree determination section which respectively determines the obstructive degree of obstacles on the basis of position and type of obstacles and a preferential obstacle determination section for determining preferential obstacles in accordance with the obstructive degree. The obstructive degree determination section detects as an obstacle at least one of a level difference and a slope. For the level difference, the obstructive degree is determined in accordance with the height of the level difference and, for the slope, and the obstructive degree is determined in accordance the inclination angle of the slope, as the characteristic of the device.COPYRIGHT: (C)2015,JPO&INPIT【課題】段差や坂などの障害物が複数存在する場合においても、優先させる障害物を正しく決定することができる。【解決手段】複数の障害物を検知する障害物検知部と、障害物の位置および種類に基づいて、障害物の障害度をそれぞれ決定する障害度決定部と、障害度に応じて優先対象とする障害物を決定する優先障害物決定部と、を備える障害物認識装置において、障害度決定部は、段差と坂の少なくとも一方を障害物として検知し、段差に対しては該段差の高さに応じて障害度を決定し、坂に対しては該坂の傾斜角度に応じて障害度を決定するものであることを特徴とする。【選択図】 図1
