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

A three-dimensional object detection device provided with a first three-dimensional object detection means (33) for detecting a three-dimensional object based on a captured image, a light source detection means (34) for detecting a light source which is present behind a host vehicle, a second three-dimensional object detection means (35) for detecting a three-dimensional object based on the light source, a three-dimensional object assessment means (37) for assessing whether the three-dimensional object is an adjacent vehicle, a degree-of-clouding calculation means (38) for calculating a degree of lens clouding, and a control means (37) for assessing whether the three-dimensional object is an adjacent vehicle based on at least the detection result from the second three-dimensional object detection means when the degree of lens clouding is equal to or greater than a predetermined determination value, and assessing whether the three-dimensional object is an adjacent vehicle based on the detection result from at least the first three-dimensional object detection means when the degree of lens clouding is less than the determination value.