Wall shape measurement device

A wall shape measurement device configured to be mounted to a vehicle, the wall shape measurement device comprising:

• a wall distance acquisition part configured to repeatedly determine whether a wall-like object installed along a road on which the vehicle is traveling is detected, using a reception signal obtained by receiving radar waves transmitted and reflected in a preset detection region around the vehicle, and to acquire, in response to the wall-like object being detected, a wall distance value indicating the distance to the wall-like object using the reception signal;
• a wall shape calculation part configured to calculate a plurality of wall shape values indicating the positions of a plurality of locations on the surface of the wall-like object, using the traveling track of the vehicle and a plurality of the past wall distance values repeatedly acquired by the wall distance acquisition part;
• a sudden change determination part configured to determine whether the wall distance value acquired by the wall distance acquisition part is suddenly changed, based on a preset sudden change determination condition;
• and
• an extrapolation part configured to, when the sudden change determination part determines that the wall distance value is suddenly changed, extrapolate the wall shape values after the sudden change determination part determines that the wall distance value is suddenly changed.