Three-dimensional object detection device, and three-dimensional object detection method

摘要

A three-dimensional object detection device has an image capturing unit, detection area setting unit, a three-dimensional object detection unit and a lens state assessment unit. The image capturing unit has a lens for capturing images behind a vehicle. The detection area setting unit sets a detection area behind the vehicle. The three-dimensional object detection unit detects a three-dimensional object that is present in the detection area based on the acquired images. The lens state assessment unit detects if the lens is in a wet state. When a determination is made by that the lens is in a wet state, the detection area setting unit changes a position of the detection area from a first detection area, which is first set as the detection area to a second detection area, in which a display area for a driving lane marker on a driving lane side of the vehicle is removed.

主权项

1. A three-dimensional object detection device comprising:
an image capturing unit comprising a lens for capturing images behind a host vehicle; a lens state assessment unit programmed to determine whether or not the lens is in a wet state; a detection area setting unit programmed to set a first detection area if the lens is determined not to be in the wet state or a second detection area if the lens is determined to be in the wet state, the first detection area being an area behind the host vehicle within a capture range of the image capturing unit, the first detection area including a first driving lane marker disposed between the host vehicle and an adjacent lane located adjacent to a lane in which the host vehicle travels, the second detection area being obtained by changing a position of the first detection area such that the second detection area does not include the first driving lane marker; and a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object in the set first detection area or the set second detection area based on the images acquired by the image capturing unit, the detection area setting unit being programmed to determine an offset distance by which the position of the first detection area was changed in a widthwise direction of the host vehicle to obtain the second detection area, and when a determination is made that the offset distance of the set second detection area with respect to the first detection area is a predetermined value or greater, the detection area setting unit modifies the set second detection area by deleting or masking a partial area within the set second detection area along the vehicle width direction of the host vehicle such that a second driving lane marker located farther from the host vehicle on an opposite side of the adjacent lane from the first driving lane marker is not included in the modified second detection area.