Obstacle detection device, obstacle detection method, and computer-readable medium

An obstacle detection method by an obstacle detection device including a transmission circuit, which, in operation, transmits a transmitted wave signal subjected to frequency modulation and a reception circuit, which, in operation, receives a signal externally, the method comprising:

• detecting an object existing in a wave transmission direction of the transmitted wave signal, based on a reflected wave of the transmitted wave signal received by the reception circuit;
• detecting, as interference, another transmitted wave signal transmitted from another transmission circuit different from the transmission circuit, based on the signal received by the reception circuit;
• and
• determining a frequency modulation pattern to be applied to the transmitted wave signal and a transmission timing of the transmitted wave signal, based on a detection result of the object and a detection result of the interference, wherein
• the transmission circuit repeatedly transmits the transmitted wave signal,
• a change in a distance from the transmission circuit to the object is detected based on the reflected wave repeatedly received by the reception circuit, and
• a change in an interference position indicating a position from the transmission circuit to the interference is detected based on the signal repeatedly received by the reception circuit.

A non-transitory computer-readable medium on which programmed instructions to be executed by a computer of an obstacle detection device including a transmission circuit, which, in operation, transmits a transmitted wave signal subjected to frequency modulation and a reception circuit, which, in operation, receives a signal externally, are stored, wherein the programmed instructions, when executed by the computer, cause the computer to perform:

• detecting an object existing in a wave transmission direction of the transmitted wave signal based on a reflected wave of the transmitted wave signal received by the reception circuit;
• detecting, as interference, another transmitted wave signal transmitted from another transmission circuit different from the transmission circuit, based on the signal received by the reception circuit;
• and
• determining a frequency modulation pattern to be applied to the transmitted wave signal and a transmission timing of the transmitted wave signal, based on a detection result of the object and a detection result of the interference, wherein
• the transmission circuit repeatedly transmits the transmitted wave signal,
• a change in a distance from the transmission circuit to the object is detected based on the reflected wave repeatedly received by the reception circuit, and
• a change in an interference position indicating a position from the transmission circuit to the interference is detected based on the signal repeatedly received by the reception circuit.