Obstacle detection device, obstacle detection method, and obstacle detection computer program product

An obstacle detection device configured to control transmitter-receivers that are configured to be mounted on a vehicle, the obstacle detection device comprising:

• a memory;
• and
• a hardware processor coupled to the memory,
• the hardware processor being configured to:
• cause first transmitter-receivers to successively transmit carrier waves, based on a transmission order;
• successively identify, when the first transmitter-receivers receive carrier waves, a detection point indicating coordinates of an obstacle, based on time differences between transmission of the carrier waves and reception of the carrier waves by the transmitter-receivers, and
• evaluate a ghost likelihood indicating a likelihood that the identified detection point is a ghost that is generated due to reception of a carrier wave transmitted from another vehicle different from the vehicle, wherein
• the hardware processor is configured to identify a movement amount and a moving direction of the identified detection point, and
• the hardware processor is further configured to:
• estimate a moving speed of the identified detection point;
• and
• evaluate the ghost likelihood of the identified detection point to be high in a case in which another detection point that is in a substantially same direction as the identified detection point and moves at a speed substantially two times the moving speed of the identified detection point in the substantially same direction as the identified detection point, is present.