Abstract: An obstacle detection device includes an acquisition unit configured to acquire path information to a parking position and range information representing a position and a range of an object existing around an own vehicle, an operation control unit configured to generate a driving signal, for operating a traveling driving device that travels a vehicle, according to the path information and outputs the generated driving signal to the traveling driving device, an inside/outside determination unit configured to determine, when receiving surroundings information representing a situation around the own vehicle, whether a target object included in the received surroundings information is an object positioned inside the range represented by the range information or an object positioned outside the range, and an obstacle determination unit configured to determine whether or not the object that has been determined to be positioned outside the range is an obstacle to the own vehicle traveling in a parking path.