| 摘要 |
This three-dimensional object detection device is provided with: an imaging means (10) for imaging the rear of a vehicle; a detection area setting means (34) that sets a predetermined detection area in the left and right side sections of the rear of the vehicle; an image conversion means (31) that converts the viewpoint of a captured image to create a bird's eye view image; a three-dimensional object detection means (32, 33) that, using a difference image in which the positions of bird's eye view images taken at different times are aligned as a bird's eye view, generates difference waveform information by counting a number of pixels that indicate a predetermined difference and carrying out frequency distribution for said pixels, and on the basis of the difference waveform information, carries out detection of three-dimensional objects in the detection area; and a relative moving speed calculation means (33) that calculates the relative moving speed of a three-dimensional object with respect to the vehicle on the basis of the difference waveform information. The three-dimensional object detection device is characterized in that the detection area setting means (34) enlarges the detection area to the rear of the travel direction of the vehicle when a three-dimensional object is detected in the detection area and the relative moving speed of the three-dimensional object is greater than a predetermined value. |
