| 摘要 |
<p>The present invention is provided with: a camera (10) for capturing an image of the area rearward of a vehicle, a three-dimensional object detection unit (33) for detecting a three-dimensional object rearward of the vehicle based on the acquired image, a lens cleaning device (100) for cleaning a lens (11) of the camera (10) using cleaning fluid according to a predetermined lens cleaning step, a lens state assessment unit (38) for assessing whether the state of the lens (11) is a predetermined state subject to control based on the timing at which cleaning fluid is sprayed on the lens in the lens cleaning step, and a control unit (39) for suppressing three-dimensional object detection when the lens state is assessed as being a state subject to control by retaining, for a predetermined length of time, detection or assessment results from immediately before the lens state was assessed as being a state subject to control.</p> |
