Obstacle detection apparatus and method of controlling obstacle detection apparatus

An obstacle detection apparatus for a vehicle, comprising:

• an ultrasonic sensor configured to detect a presence of an obstacle around the vehicle and a distance to the obstacle by transmitting an ultrasonic wave and receiving the ultrasonic wave reflected by the obstacle, the ultrasonic sensor having a directivity that is variable and determines a detection area;
• and
• a control part including at least one of a rainfall amount determining portion and a noise determining portion, the rainfall amount determining portion configured to compare a rainfall amount with a predetermined amount, the noise determining portion configured to determine a presence of noise, wherein
• when the rainfall determining portion determines that the rainfall amount is greater than the predetermined amount or when the noise determining portion determines that noise is present, the control part outputs a command signal to the ultrasonic sensor so that the ultrasonic sensor decreases the directivity compared with a case where the rainfall determining portion determines that the rainfall amount is less than or equal to the predetermined amount or a case where the noise determining portion determines that noise is not present.