Specific object detection apparatus

Abstract

Provided is a specific object detection apparatus capable of detecting a specific object even when a self-vehicle is positioned at a distance from the specific object during bad weather. A specific object detection apparatusincludes: imaging means (an imaging unit)which captures a specific object Vincluding a light sourcedriven based on a PWM signal with a frequency f and a duty ratio D, the specific object Vbeing captured at a frame rate of f/D fps or higher; detecting means (a detecting unit)which detects a relatively bright area in an image captured by the imaging means (imaging unit); calculating means (a calculating unit)which calculates a lighting frequency of the relatively bright area detected by the detecting means (detecting unit); and determining means (a determining unit)which determines that, when the lighting frequency calculated by the calculating means (calculating unit)is a frequency set in advance, the relatively bright area detected by the detecting means (detecting unit)is a specific object.