THREE-DIMENSIONAL OBJECT DETECTION DEVICE

摘要

Provided is a three-dimensional object detection device comprising: an imaging means (10) that captures an image of the area behind a vehicle; a detection region-setting means (35) that sets a predetermined detection region behind the vehicle; an image conversion means (31) that converts the viewpoint of a captured image to that of a bird's eye view image; three-dimensional object detection means (32, 33) that generate difference waveform information from a difference image in which the positions of bird's eye view images taken at different times are aligned, and detect the existence of three-dimensional objects within the detection area on the basis of the difference waveform information; a lane number increase determination means (35) that determines on the basis of changes in the difference waveform information whether the number of lanes on the road on which the vehicle is traveling has increased; and a lane change determinations means (35) that determines whether the vehicle is changing lanes. The three-dimensional object detection device is characterized in that the detection region-setting means enlarges the detection region in the vehicle width direction when it is determined that the vehicle is not changing lanes and that the number of lanes on the road on which the vehicle is traveling has increased.