Vehicle periphery monitoring device

摘要

A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.

主权项

1. A vehicle periphery monitoring device which monitors an object existing in a periphery of a vehicle, comprising:
a first recognizing unit which recognizes a shape of a road in a traveling direction of the vehicle; a second recognizing unit which recognizes a position of an object existing in a periphery of the vehicle; an estimating unit which estimates a traveling direction of the object from the position recognized by the second recognizing unit; an imaging device which captures an image of the periphery of the vehicle; and
a contact avoiding process unit which determines whether or not to perform an avoiding process for avoiding contact of the vehicle and the object, based on whether a relationship between the shape of the road recognized by the first recognizing unit, and the traveling direction of the object estimated by the estimating unit satisfies predetermined criteria or not; wherein the second recognizing unit also recognizes an orientation of the object based on the image captured by the imaging device; the estimating unit estimates the traveling direction of the object also based on the orientation of the object recognized by the second recognizing unit, when an amount of change of the position of the object at different times as recognized by the second recognizing unit, is equal to or less than a predetermined value; and
the estimating unit also estimates a change of direction of the position of the object at the different times as the traveling direction of the object, when the amount of change of the position of the object at the different time points is greater than the predetermined value.