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

An obstacle detection device comprising:

• a plurality of ranging sensors configured to transmit ultrasonic waves and receive reflected waves of the ultrasonic waves, and disposed on a vehicle to be spaced in a vehicle width direction;
• a camera disposed on the vehicle and configured to acquire an image corresponding to detection areas of the plurality of ranging sensors;
• and
• a control circuit configured to detect an obstacle around the vehicle, based on the reflected waves received by the plurality of ranging sensors and the image acquired by the camera, wherein
• the control circuit is configured to detect the obstacle, based on the image acquired by the camera during a predetermined period between transmission of an ultrasonic wave by a first ranging sensor out of the plurality of ranging sensors and reception of a first reflected wave thereof, the image being acquired for a detection area of a second ranging sensor different from the first ranging sensor among the plurality of ranging sensors,
• the plurality of ranging sensors and the camera are disposed on a rear portion of the vehicle, and
• the control circuit is configured to, when determining that another vehicle is connected to the rear portion of the vehicle, stop detection of the obstacle, based on an image of a blind spot area corresponding to a detection blind spot of the plurality of ranging sensors around the vehicle in the image acquired by the camera.