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

An obstacle detection method for an obstacle detection device comprising a plurality of ranging sensors disposed on a vehicle at predetermined intervals, the plurality of ranging sensors transmitting ultrasonic waves and receiving reflected waves of the ultrasonic waves, the obstacle detection method comprising:

• adjusting a determination range in a width direction in a determination region of a first ranging sensor located closer to a center of the vehicle in the width direction than another ranging sensor among the plurality of ranging sensors;
• and
• detecting an obstacle around the vehicle based on the reflected waves received by the plurality of ranging sensors.

A non-transitory computer-readable medium on which programmed instructions are stored, wherein the programmed instructions, when executed by a computer of an obstacle detection device comprising a plurality of ranging sensors disposed on a vehicle at predetermined intervals, the plurality of ranging sensors transmitting ultrasonic waves and receiving reflected waves of the ultrasonic waves, cause the computer to perform:

• adjusting a determination range in a width direction in a determination region of a first ranging sensor located closer to a center of the vehicle in the width direction than the other ranging sensors among the plurality of ranging sensors;
• and
• detecting an obstacle around the vehicle based on the reflected waves received by the plurality of ranging sensors.