THREE-DIMENSIONAL OBJECT DETECTION DEVICE AND FOREIGN OBJECT DETECTION DEVICE

摘要

The present invention is provided with: a camera (10) that images rearwards from a vehicle; three-dimensional object detection units (33, 37) that detect three-dimensional objects on the basis of image information; a three-dimensional object determination unit (34) that determines whether or not a detected three-dimensional object is another vehicle (VX); a foreign object detection unit (38) that detects whether or not a foreign object has adhered to a lens on the basis of the change over time in the difference between a baseline value and a value to be evaluated and the change over time in the brightness value for each predetermined pixel of an imaging element; and a control unit (39) that, when a foreign object has been detected, outputs a control command to each means in a manner so that the determination that the foreign object is another vehicle (VX) is suppressed.