| 摘要 |
<p>PROBLEM TO BE SOLVED: To quickly detect a travelling direction of an oncoming vehicle to an own vehicle with simple processing, and quickly predict a possibility of collision or contact.SOLUTION: A vehicle surroundings monitoring device 10 comprises a camera 23 mounted on the own vehicle and capable of photographing the outside of the own vehicle, and an object track estimation section 32 for detecting the travelling direction of the oncoming vehicle existing outside the own vehicle from a camera picture taken by the camera 23. The object track estimation section 32 detects the travelling direction of the oncoming vehicle on the basis of at least one of a positional relation between a front tire and a rear tire of the oncoming vehicle detected from the camera picture, whether an outer wheel of the front tire of the oncoming vehicle is detected or not from the camera picture, and whether a side-view mirror of the oncoming vehicle is detected or not from the camera picture.</p> |
