Vehicle environment monitoring device for detecting e.g. lanes on road around four-wheeled vehicle, has image processing unit, where image processing detection target in unit is switched from one to another based on defined road shape

摘要

The device (1) has a transmitting and receiving unit (101) and a signal processing unit (102) for determining a road shape around a subject vehicle, and for defining the determined shape. An image detecting unit (103) detects an image around the vehicle. An image processing unit (104) processes the detected image, and detects a lane and an obstacle on a road. An image processing detection target in the image processing unit is switched from one to another based on the defined shape. The image processing unit sets the obstacle as the target when the road shape is defined as a straight road.