Camera device, three-dimensional object detection device, and lens cleaning method

A camera device comprising:

• an image capturing device installed on a vehicle and comprising a lens for forming an image of the vehicle surroundings;
• a lens cleaning device configured to clean the lens by spraying a cleaning fluid on the lens at a predetermined timing that is set in advance, in which at least a supply time for supplying cleaning fluid to the lens surface is predetermined;
• an adhesion state assessment unit programmed to assess an adhesion state of contamination adhered to the lens based on an amount of change of a degree of adhesion by calculating the degree of adhesion of foreign matter adhered to a predetermined area of the lens based on a captured image captured by the image capturing device;
• and
• a lens cleaning controller programmed to extend the time until a time to start supplying the cleaning fluid, the larger the amount of change in the adhesion degree of foreign matter adhered to the lens determined by the adhesion state assessment unit, the longer the lens cleaning controller extends the time until the cleaning fluid is supplied.