VEHICLE-SURROUNDINGS RECOGNITION DEVICE

摘要

Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example. In a case where a first state in which a first detection unit 12 and a second detection unit 13 detect first position information and second position information about an object and a second state in which only a second detection unit 13 detects second position information about the object occur in a time sequence, first position information interpolation information for interpolating the first position information about the object in the second state is calculated on the basis of the first position information and the second position information in the first state and the second position information in the second state, and a relative distance and a relative speed to the object are measured on the basis of the first position information and the first position information interpolation information.