| 摘要 |
<p>　The present invention is provided with: an imaging means (10) that images a predetermined area rearward of a host vehicle; an image conversion means (31) that converts the viewpoint of the captured image to an overhead view image; a three-dimensional object detection means (32, 33) that generates difference waveform information by counting and creating a frequency distribution of the number of pixels indicating a difference equal to or greater than a predetermined first threshold value in a difference image in which overhead view images taken at different times are aligned, and, if the difference waveform information is equal to or greater than a predetermined second threshold value, detects a three-dimensional object present in an adjacent lane on the basis of the difference waveform information; and a light source detection means (34) that detects a light source present rearward of the host vehicle. If the light source detection means (34) detects a light source, the first and second threshold values are set higher in a forward area farther ahead than a line that connects the light source and the imaging means (10) in the predetermined area, such that three-dimensional objects are more difficult to detect.</p> |
