In the present invention can be by creating an obstacle map using relates to a device and method for generating an obstacle map using an ultrasonic sensor, at least one ultrasonic sensor in a mutually organic, reducing the obstacle detection error improve the obstacle detection performance, to provide a device and method for generating a map using a ultrasonic obstacle sensor.
To this end, the present invention is the sensor control unit for controlling in an obstacle map generating apparatus using an ultrasonic sensor, of the plurality of ultrasonic sensors which one ultrasonic sensor is controlled so as to transmit an ultrasonic wave, and wherein the plurality of ultrasonic sensors to receive a reflected wave; Signal sorting unit for sorting the received reflected wave of the plurality of ultrasonic sensors based on the time delay curve; Signal adder for adding the signal sorting portion alignment signal; Obstacle determining unit for determining that there is an obstacle when the intensity of the signal summing additional summing a signal exceeding the threshold; And an obstacle map generating unit for generating an obstacle map based on the result of the determination portion determines the obstacle.