Abstract: A detection device 1 is provided with: a detection unit 121 which detects an object present around a vehicle V; a specification unit 122 which specifies a detection continuation time period in which the detection unit 121 has continuously detected the object; and an information output unit 123 which, on the condition that the detection continuation time period specified by the specification unit 122 has exceeded a determination time period for determining whether or not the object is a detection target object, outputs presence information indicating detection of the target object by the detection unit 121.

Abstract: A four-wheel drive vehicle of the present invention includes: a first differential mechanism for distributing engine drive force to front drive wheels and rear drive wheels; a second differential mechanism for distributing engine drive force to left and right main drive wheels (the main drive wheels get more drive force than other drive wheels); first differential-limiting device for operating differential-limiting control by the first differential mechanism; second differential-limiting device for operating differential-limiting control by the second differential mechanism; rotational speed detection device for detecting rotational speed of each drive wheel; turn direction detection device for detecting the direction of a turn that the vehicle is making; and control means for, based on detection signals from the rotational speed detection device and the turn direction detection device, controlling differential-limiting force provided by the second differential-limiting device according to a difference betwee