Obstacle detection device and obstacle detection method

An obstacle detection method for an obstacle detection device to be installed on a train, the obstacle detection method comprising:

• performing monitoring, by a sensor, to monitor a monitoring region and output a monitoring result;
• performing obstacle detection, by an obstacle detection circuitry, to determine presence or absence of an obstacle on a route of the train based on the monitoring result, and output a detection result;
• performing monitoring distance determination, by a monitoring distance determination circuitry, to use the detection result to determine a monitoring distance from the train to a reference for monitoring by the sensor in front of the train;
• and
• performing monitoring region determination, by a monitoring region determination circuitry, to use the monitoring distance to determine the monitoring region to be monitored by the sensor, wherein
• in performing the monitoring distance determination, when changing the monitoring distance, the monitoring distance determination circuitry acquires the monitoring region from the monitoring region determination circuitry, and changes the monitoring distance such that a part of a first monitoring region that has been monitored overlaps with a part of a second monitoring region based on the changed monitoring distance, in order not to generate a region that is not monitored by the sensor on a route of the train.