Obstacle monitoring system, obstacle monitoring apparatus, obstacle monitoring method

An obstacle monitoring apparatus comprising

• at least one memory storing computer-executable instructions, and
• at least one processor configured to access the at least one memory and execute the computer-executable instructions to:
• perform sensing of an area ahead in a moving direction of a moving body;
• detect an obstacle, based on a sensing result;
• selectively execute a plurality of control modes including a first control mode in which a moving speed of the moving body is a first moving speed and a sensing field of view is a first field of view, and a second control mode in which a moving speed of the moving body is a second moving speed being lower than the first moving speed and a sensing field of view of the sensing means is a second field of view being narrower than the first field of view;
• and
• execute the second control mode in such a way as to capture the obstacle within the second field of view, when the obstacle is detected while the control means is executing the first control mode.

An obstacle monitoring method comprising, by a computer:

• detecting an obstacle, based on a sensing result of sensing means for sensing an area ahead in a moving direction of a moving body;
• selectively executing a plurality of control modes including a first control mode in which a moving speed of the moving body is a first moving speed and a sensing field of view of the sensing means is a first field of view, and a second control mode in which a moving speed of the moving body is a second moving speed being lower than the first moving speed and a sensing field of view of the sensing means is a second field of view being narrower than the first field of view;
• and
• executing the second control mode in such a way as to capture the obstacle within the second field of view, when the obstacle is detected while the first control mode is being executed.