| 摘要 |
This three-dimensional object detection device is provided with: an image conversion means (31) that converts the viewpoint of an image obtained from an imaging means (10) to create a bird's eye view image; a three-dimensional object detection means (33) that, using a difference image in which the positions of bird's eye view images taken at different times are aligned, generates vehicle width direction waveform information by counting a number of pixels that indicate a predetermined difference along the vehicle width direction and carrying out frequency distribution of said pixels, and on the basis of the vehicle width direction waveform information, carries out vehicle width direction detection processing in which three-dimensional objects that exist within a detection area are detected; a three-dimensional object determination means (34) that determines whether a detected three-dimensional object is another vehicle that exists within the detection area; and a control means (34) that identifies a detected position for which a count number exceeding a predetermined value was obtained during vehicle width direction detection processing, and when the identified detected position moves within the detection area from the front toward the back of the vehicle travel direction and arrives at a predetermined position within the detection area, suppresses determination of the three-dimensional object as another vehicle that is a target for detection. |
