| 主权项 |
1. A vehicle periphery monitoring apparatus comprising:
a processor, the processor being configured to detect, in a detection unit, a brightness change of a pixel along a plurality of detection lines, the plurality of detection lines extending along a right-left axis in an image captured by an in-vehicle camera as an image of a vehicle periphery; and determine, in a moving object determination unit, a presence of the moving object based on the brightness change of the pixel detected by the detection unit and a determination condition which includes a parameter for evaluating the brightness change to determine whether the brightness change of the pixel along the detection lines is caused by the moving object, wherein the moving object determination unit changes the determination condition for determining whether the moving object is present based upon a number of the detection lines along which the brightness change is detected by the detection unit, and as the number of detection lines that have the brightness change decreases, the harder it is to satisfy the determination condition for determining that the moving object is present, and the parameter includes at least one of a rise threshold to evaluate a rise of the brightness change along each detection line, and a fall threshold to evaluate a fall of the brightness change along each detection line, and the moving object determination unit changes at least one of the rise threshold and the fall threshold in accordance with the number of detection lines along which brightness change is detected, and as the number of detection lines along which the brightness change is detected decreases, at least one of the rise threshold and the fall threshold increases. |
