| 摘要 |
This three-dimensional object detection device is characterized in being provided with: an image capturing means (10) for capturing a predetermined area rearward of a host vehicle; an image conversion means (31) for converting the viewpoint of a captured image to create a bird's-eye view image; and a three-dimensional object detection means (32, 33, 34) for generating difference waveform information by counting a number of pixels that indicate a difference having a predetermined first threshold value or higher in a difference image of aligned bird's-eye view images to form a frequency distribution, and detecting a three-dimensional object present based on the difference waveform information when the difference waveform information is at a predetermined second threshold value or higher in a detection frame set inside a predetermined area, wherein a three-dimensional object detection means (32, 33, 34) sets the first threshold value or the second threshold value lower so that the three-dimensional object is more readily detected in a rearward area further rearward than a line connecting the image capturing means (10) and the light source detected by the detection reference setting unit 34 than in a forward area forward from the line in the predetermined area. |
