| 摘要 |
This three-dimensional object detection device is provided with: three-dimensional object detection units (33, 37) which detect three-dimensional objects on the basis of image information from the rear of the vehicle from a camera (10); a natural object determination unit (38) which determines whether a detected three-dimensional object is a natural object (Q1) such as grass or snow on the basis of an irregularity evaluation value calculated on the basis of the first pixel number of first pixels showing a first prescribed difference in a difference image in which the three-dimensional object was detected, and, corresponding to the three-dimensional object, a second pixel number of second pixels showing a second prescribed difference greater than the first prescribed difference; and a control unit (39) which controls each process. The control unit (39) suppresses a detected three-dimensional object from being identified as another vehicle (VX) if the three-dimensional object detected by the natural object determination unit (38) is determined to be a natural object (Q1). |
