To eliminate the unnecessary traveling stop of a stacker crane, to eliminate the detection delay and the impossible detection of an obstacle in the traveling mode, and to improve the working efficiency and safety by detecting an installed obstacle in advance, and preventing the detection of this installed obstacle in the normal traveling mode for working.

In this obstacle detection device of a moving vehicle which is provided with an obstacle sensor 11 to detect an obstacle on a stacker crane 3 of an automated storage and retrieval system traveling on a specified passage, and stops the traveling of the stacker crane 3 when the obstacle is detected by the obstacle sensor 11, the detection range of the obstacle sensor 11 is set to be variable based on the data on the obstacle during the actual traveling regarding the positional relationship of each obstacle installed in advance which is detected through the actual traveling of the moving vehicle.