THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD

摘要

A three-dimensional object detection device provided with a three-dimensional object detection means (33) for detecting a three-dimensional object on the basis of a captured image, a cloudiness calculation means (34) for calculating the cloudiness of a lens, a light source detection means (35) for detecting a light source at the rear, a certainty calculation means (36) for calculating the degree of certainty that the detected light source is the headlight of an adjacent vehicle, and a control means (37) for allowing the three-dimensional object detection means (33) to detect a three-dimensional object the higher the degree of certainty that the light source is the headlight of an adjacent vehicle is, wherein the control means (37) allows the certainty calculation means (36) to calculate a higher degree of certainty that the light source is the headlight of an adjacent vehicle the higher the cloudiness of the lens is.