| 摘要 |
The present invention is provided with a detection region setting unit(41) for setting a detection region on the right and left sides at the rear of a vehicle, three-dimensional object detection units (33, 37) for detecting a three dimensional object located within the right side detection region (A1) or the left side detection region (A2) at the rear of the vehicle on the basis of the image information of the rear of the vehicle obtained from a camera (10), and a three dimensional object determination unit (34) for determining whether the detected three dimensional object is another vehicle (VX) located in the right side detection region (A1) or the left side detection region (A2), wherein when a state in which the lens is wet is detected, the detection region setting unit (41) sets a first detection region and a second detection region as the new detection regions (A1, A2), the first detection region being a region that was set first and the second detection region being a region that does not include the display region of the white line on the side of the traveling lane of a vehicle (V) from among the white lines of lanes that are adjacent to the lane in which the vehicle (V) is traveling. |
