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

摘要

A three-dimensional object detection device has an image capturing unit, a first object detection unit, a light source detection unit, a second object detection unit, a degree-of-clouding calculation unit and a controller. The image capturing unit captures images rearward of a vehicle. The first object detection unit detects a presence of a three-dimensional object from the captured images. The second object detection unit detects a presence of a three-dimensional object from a detection result of the light source detection unit. The degree-of-clouding calculation unit calculates a degree of lens clouding from the captured images. The controller assess the object as an adjacent vehicle in an adjacent lane from the degree of lens clouding when the degree of lens clouding is equal to or greater than a predetermined value and from the presence of the object in the captured images when the degree of lens clouding is less than the value.

主权项

1. A three-dimensional object detection device comprising:
an image capturing unit having a lens for forming captured images of an area rearward of a host vehicle; a first three-dimensional object detection unit programmed to detect a presence of a three-dimensional object-based on the captured images captured by the image capturing unit; a light source detection unit programmed to detect a light source which is present behind the host vehicle based on the captured images captured by the image capturing unit; a second three-dimensional object detection unit programmed to detect a presence of a three-dimensional object based on a detection result of the light source detected by the light source detection unit; a degree-of-clouding calculation unit programmed to calculate a degree to which the lens is clouded as a degree of lens clouding based on the captured images; and a controller programmed to:
assess whether the three-dimensional object is an adjacent vehicle present in an adjacent lane adjacent to a lane of travel of the host vehicle based on at least a detection result from the second three-dimensional object detection unit when the degree of lens clouding is equal to or greater than a predetermined determination value; andassess whether the three-dimensional object is the adjacent vehicle based on at least a detection result from the first three-dimensional object detection unit when the degree of lens clouding is less than the determination value.