OBJECT DETECTOR AND OBJECT DETECTION METHOD

摘要

A solid object detection device (1) for detecting solid objects in the periphery of a vehicle (V), the solid object detection device (1) comprising: a camera (10) for capturing an image including detection regions (A1, A2) set in adjacent traffic lanes to the rear of the vehicle (V); a solid object assessment unit (33) for assessing whether or not a solid object is present in the images of the detection regions (A1, A2) captured by the camera (10); a lateral position detection unit (34) for detecting a distance (”y) between the vehicle position in the traffic lane traveled by the vehicle (V) and a dividing line that divides traffic lanes; a region setting unit (33b) for causing the size of the detection region (A1 or A2) positioned on the side where the dividing line is present to be enlarged by a greater amount correspondingly with respect to an increase in the distance (”y) to the dividing line detected by the lateral position detection unit (34); and traffic lane change detection means (35) for detecting a traffic lane change made by the vehicle. When a traffic lane change made by the vehicle is detected, a smaller enlarged amount is used when enlarging the size of the predetermined region outward in the vehicle-width direction.