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

摘要

A three-dimensional object detection device characterized by being provided with: an imaging means (10) mounted on a vehicle and provided with a lens for forming an image of the rear of the host vehicle; a three-dimensional object detection means (33) for detecting a three-dimensional object located in a detection region on the basis of the captured image; a nighttime determination means (34) for determining whether it is nighttime; a luminance detection unit (35) for detecting the luminance of multiple image regions on the basis of the captured image; a luminance peak detection means (36) for detecting a luminance peak, which has a luminance gradient that is equal to or greater than a predetermined value from among luminance peaks, as the target luminance peak; and a control means (37) for inhibiting the detection of a three-dimensional object by means of the three-dimensional object detection means (33) on the basis of the detection result of the detected target luminance peak when it was determined to be nighttime.