CAMERA DEVICE, THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND LENS CLEANING METHOD

摘要

Installed on a vehicle and provided with a camera 10 comprising a lens 11, a lens cleaning device 100 for cleaning the lens following a predetermined lens cleaning step, an adhesion state assessment unit 38 for assessing the adhesion state, including the adhesion degree of foreign matter adhered to the lens 11 based on the pixel values of pixels included in an obtained captured image, and a controller 101 for controlling the supply time of the cleaning fluid based on the assessed adhesion state of foreign matter, wherein the adhesion state assessment unit 38 assesses that the state of adhered lens contamination 11 is a first state when the adhesion degree of foreign matter is within a predetermined threshold value of equal to or greater than a first adhesion threshold and less than a second adhesion threshold, and conduct a control to cause the lens cleaning device 100 to delay the supply time of the cleaning fluid when the state of adhered lens contamination 11 is assessed as being the first state.