OBSTACLE DETECTION DEVICE AND OBSTACLE DETECTION METHOD

An obstacle detection device includes a traveling direction determination unit configured to determine a traveling direction of an own vehicle based on acquired steering angle information and shift position information, and an obstacle determination unit configured to set a detection range as a predetermined range around the own vehicle, determines, when an object detected based on sensor data is positioned inside the detection range, the object as an obstacle that obstructs traveling of the own vehicle, and outputs a control signal for stopping the traveling of the own vehicle or decelerating the own vehicle. The obstacle determination unit changes the detection range based on a determination result of the traveling direction determination unit.