| 摘要 |
<p>In the present invention the following are provided: a camera (10) for capturing images of the area behind a vehicle; a three-dimensional object detection unit (33) for, when converting the viewpoint to a birds-eye-view image, detecting a three-dimensional object on the basis of differential waveform information generated from a pixel count indicating a prescribed differential along the direction in which a three-dimensional object has collapsed; a three-dimensional object determination unit (34) for determining whether a detected object is another vehicle; a state of sudden brightness change detection unit (38) for comparing over time brightness of a center region (B) and that of a peripheral region (A) in image information obtained by the camera (10), and in a case where the change in brightness within a prescribed period of time is at least a predetermined value, a state in which brightness suddenly changes is detected; and a control unit (39) that identifies, in a case where there is a state of sudden brightness change, whether the three-dimensional object was in a state-of-being-detected detection state just prior to such brightness change, and in order to maintain the identified detection state the three-dimensional object is detected, and the control unit suppresses or promotes determination that the three-dimensional object is the other car.</p> |
