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

摘要

This three-dimensional object detection device is characterized by being provided with: a first three-dimensional object detection means (33) that detects three-dimensional objects on the basis of a captured image; a light source detection means (34) that detects light sources present rearwards from the vehicle of the device; a second three-dimensional object detection means (35) that detects three-dimensional objects on the basis of the light sources; a three-dimensional object determination means (37) that determines whether or not a three-dimensional object is an neighboring vehicle; a cloudiness calculation means (38) that calculates a lens cloudiness on the basis of a captured image; and a control means (37) that determines whether or not a three-dimensional object is a neighboring vehicle on the basis of the detection results by at least the second three-dimensional object detection means when the lens cloudiness is at least a predetermined determination value, and determines whether or not a three-dimensional object is a neighboring vehicle on the basis of the detection results of at least the first three-dimensional object detection means when the lens cloudiness is less than the determination value.