THREE-DIMENSIONAL OBJECT DETECTION DEVICE

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; a three-dimensional object detection means (32, 33) 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 in an adjacent lane based on the difference waveform information when the difference waveform information is at a predetermined second threshold value or higher; and a light source detection means (34) for detecting a light source present rearward of the host vehicle, the three-dimensional object detection unit (34) setting the first threshold value or the second threshold value higher so that the three-dimensional object is difficult to detect in a forward area further forward than a line connecting the light source and the image capturing means (10) when the light source has been detected.