To provide an obstacle detection device, program and recording medium which can realize both high detection accuracy and short detection time when an obstacle is detected using a plurality of ultrasonic sensors.
In step 300, it is decided whether there is an ultrasonic sensor 5 which has detected an obstacle already. In step 310, it is decided whether it is time to operate ultrasonic sensors 5 according to the basic order. In step 330, the ultrasonic sensors 5 according to the basic order are determined because it is not time to give priority. On the other hand, in step 370, a detection sensor decides whether they are the same as the ultrasonic sensors 5 of the basic order because it is time to increase priority. In step 390, the ultrasonic sensors 5 of the basic order are determined from a detection sensor memory region A. In step 380, a detection sensor whose priority is to be increased is determined from a detection sensor memory region B.
SASAKI TAKANOBU
MATSUSHITA FUMIHIKO