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THREE-DIMENSIONAL OBJECT DETECTION DEVICE AND THREE-DIMENSIONAL OBJECT DETECTION METHOD

  • US 20150324651A1
  • Filed: 07/25/2013
  • Published: 11/12/2015
  • Est. Priority Date: 07/27/2012
  • Status: Active Grant
First Claim
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1. A three-dimensional object detection device comprising:

  • an image capturing unit having a lens for forming captured images of an area rearward of a host vehicle;

    a first three-dimensional object detection unit programmed to detect a presence of a three-dimensional object-based on the captured images captured by the image capturing unit;

    a light source detection unit programmed to detect a light source which is present behind the host vehicle based on the captured images captured by the image capturing unit;

    a second three-dimensional object detection unit programmed to detect a presence of a three-dimensional object based on a detection result of the light source detected by the light source detection unit;

    a degree-of-clouding calculation unit programmed to calculate a degree to which the lens is clouded as a degree of lens clouding based on the captured images; and

    a controller programmed to;

    assess whether the three-dimensional object is an adjacent vehicle present in an adjacent lane adjacent to a lane of travel of the host vehicle based on at least a detection result from the second three-dimensional object detection unit when the degree of lens clouding is equal to or greater than a predetermined determination value; and

    assess whether the three-dimensional object is the adjacent vehicle based on at least a detection result from the first three-dimensional object detection unit when the degree of lens clouding is less than the determination value.

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