| 摘要 |
A vehicle surrounding monitoring device comprises: a captured image acquisition unit for acquiring an image of vehicle surroundings by an image capturing unit provided on a vehicle; an adhering matter detection unit for determining a state in which foreign matter is adhering to a lens of the image capturing unit; a state determination unit for, when the adhering matter detection unit determines that the foreign matter is adhering, determining a lens state in which the image recognition performance deteriorates; a lens state recording unit for, at the end of a system, recording, in a recording unit, the state of the matter adhering to the lens of the image capturing unit, which has been detected by the adhering matter detection unit; and a lens state reading unit for, at the startup of the system, reading the state of the matter adhering to the lens of the image capturing unit, which has been recorded in the recording unit. At the startup of the system, the state determination unit determines, on the basis of the state of the matter adhering to the lens of the image capturing unit, which has been detected by the adhering matter detection unit, and the state of the matter adhering to the lens of the image capturing unit, which has been read from the recording unit by the lens state reading unit, whether or not a startup signal for starting up a cleaning device is outputted. |
