To provide an object detection device capable of appropriately detecting an emergency vehicle.SOLUTION: A object detection device comprises: a lane number detection unit that detects the number of lanes included in a road on which a vehicle runs; a peripheral vehicle detection unit that detects one or more peripheral vehicles positioned around the vehicle from a peripheral image representing the surroundings of the vehicle, generated through a camera mounted on the vehicle; and a determination unit that determines that, when peripheral vehicles, exceeding the number of lanes detected in a predetermined range in the rear of the vehicle, are detected side by side in the width direction of the vehicle, it is more likely that any of the peripheral vehicles is an emergency vehicle that is allowed to travel without following a traffic segment on a road than when peripheral vehicles exceeding the number of lanes are not detected side by side in the width direction of the vehicle.SELECTED DRAWING: Figure 7

    【課題】緊急車両を適切に検出することができる物体検出装置を提供する。【解決手段】物体検出装置は、車両が走行する道路に含まれる車線の数を検出する車線数検出部と、車両に搭載されたカメラにより生成された車両の周辺を表す周辺画像から、車両の周辺に位置する1以上の周辺車両を検出する周辺車両検出部と、車両の後方における所定の範囲に検出された車線の数よりも多くの周辺車両が車両の幅方向に並んで検出された場合、車線の数よりも多くの周辺車両が車両の幅方向に並んで検出されない場合よりも、周辺車両のうちいずれかが、道路における通行区分に従わない走行が認められた緊急車両である可能性が高いと判定する判定部と、を備える。【選択図】図7


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    Title :

    OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND COMPUTER PROGRAM FOR OBJECT DETECTION


    Additional title:

    物体検出装置、物体検出方法、および物体検出用コンピュータプログラム


    Contributors:

    Publication date :

    2024-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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