| 摘要 |
The present invention is provided with: a camera (10) that images rearwards from a vehicle; a three-dimensional object detection unit (33) that detects three-dimensional objects on the basis of difference waveform information arising from the number of pixels exhibiting a predetermined difference along the direction in which three-dimensional objects fall down when there has been a perspective conversion to a birds-eye-view image; a three-dimensional object determination unit (34) that determines whether or not a detected three-dimensional object is another vehicle; a high-brightness-section determination unit (38) that, among determination lines along the direction that the three-dimensional objects fall down, specifies as a determination subject line any given determination line having at least a predetermined distribution of pixels of which the brightness difference of image regions that are adjacent to each other is at least a threshold, calculates a brightness evaluation value that is on the basis of a variance over time of the brightness value of the image region on the determination subject line, and when the calculated brightness evaluation value is at least a predetermined value, determines the region containing the determination subject line to be a high-brightness section; and a control unit (39) that suppresses the determination that a three-dimensional object is another vehicle on the basis of information of a high-brightness image region corresponding to the high-brightness section. |
