VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE, AND VEHICLE PERIPHERY MONITORING PROGRAM

摘要

A device and so forth capable of determining the types of objects with high accuracy. In the vehicle periphery monitoring device (10), the sizes of object areas (= first object areas) in which the same object exists, which are set in an image representing the peripheral state of a vehicle (1) at each of two different times (= first time point and second time point) are equalized on the basis of the distance from the vehicle at each of the two different times to the object. Further, local areas (= first local area and second local area) having the same arrangement aspect are set on the basis of each of the object areas (= first object area at the first time point and second object area (extended or reduced first object area at the second time point)) with the sizes equalized. Furthermore, the objects are classified into the object segmentation in accordance with the arrangement aspect when the degree of correlation between the first and second local areas becomes a threshold or more.