THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD

摘要

A three-dimensional object detection device characterized by being mounted on a vehicle, comprising an image capturing device 10 comprising a lens for forming an image of the vehicle rear; a three-dimensional object detection unit 33 for detecting a three-dimensional object that is present in a detection area based on the captured image; a nighttime assessment unit 34 for assessing whether or not nighttime has fallen; a luminance detection unit 35 for detecting the luminance of a plurality of image areas based on the captured image; a luminance peak detection unit 36 for detecting a peak in the luminance from among the peaks in the luminance having a luminance gradient of a predetermined value or more as the target luminance peak; and a controller 37 for suppressing the detection of a three-dimensional object by the three-dimensional object detection unit 33 when an assessment has been made that nighttime has fallen, based on the result of detecting the detected target luminance peak.