| 摘要 |
PROBLEM TO BE SOLVED: To realize high detection accuracy in both detection processing of a detection object and detection processing of an adhering substance without separately inserting a dedicated imaging frame for detection of an adhering substance.SOLUTION: While changing an exposure value of an imaging apparatus by an imaging frame unit, imaging frames including imaging area images obtained by imaging a detection object such as a white line and a tail lamp present in a self-vehicle front area via a windshield 105 and adhering substance observation images obtained by imaging an adhering substance such as a rain drop adhering to the windshield are sequentially generated, the detection object is detected by using the imaging area images in two or more imaging frames with mutually-different exposure values, and detection processing of the adhering substance is performed by using the adhering substance observation images in other imaging frames (imaging frames for tail lamp identification) obtained by excluding the imaging frame with the maximum exposure value from the two or more imaging frames. |
