FIELD: physics.
SUBSTANCE: device comprises: a camera (10) for capturing an image of the region behind a vehicle, a three-dimensional object detecting module (33) for detecting a three-dimensional object behind the vehicle based on the obtained image, a lens cleaning device (100) for cleaning the lens (11) of the camera (10) using a cleaning liquid according to a predefined lens cleaning step; a lens state evaluating module (38) for evaluating whether or not the state of the lens (11) is a predefined state to be controlled, based on the time when the cleaning liquid is sprayed onto the lens at the lens cleaning step, and a control module (39) for stopping detection of three-dimensional objects, when the lens state is evaluated as a state to be controlled by storing, during a predefined period, the detection or evaluation results from the time immediately before the lens state is evaluated as a state to be controlled.
EFFECT: high image accuracy, even when the cleaning liquid is sprayed onto the lens.
11 cl, 38 dwg
