JP2007293487A5 - - Google Patents

Claims (6)

Object detection means for detecting an object present at least on the front side of the vehicle, and avoidance object determination means for determining whether or not the detected object is an avoidance object to avoid contact with the vehicle; In a vehicle periphery monitoring device equipped with
The relative speed of the object detected by the object detection means is a speed component in the vehicle width direction of the vehicle, and a lateral speed component whose magnitude is equal to or greater than a predetermined positive lower limit value. Speed component determination means for sequentially determining whether or not it has,
The avoidance target determination means is a means capable of selectively executing a plurality of types of determination algorithms for determining whether or not the object is an avoidance target, and at least the determination result of the speed component determination means Accordingly, a vehicle is characterized in that one of the plurality of types of determination algorithms is selected and the determination algorithm is executed to determine whether or not the object is an avoidance target. Perimeter monitoring device.   2. The vehicle periphery monitoring device according to claim 1, wherein the lateral speed component is a speed component whose magnitude is not more than a predetermined upper limit value that is larger than the lower limit value.   Relative position detection means for successively detecting the relative position of the object detected by the object detection means with respect to the vehicle is provided, and the direction of the lateral velocity component is the relative position detected by the relative position detection means. The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery monitoring device is a speed component in a direction that satisfies a predetermined requirement determined accordingly.   Relative position detecting means for sequentially detecting the relative position of the object detected by the object detecting means with respect to the vehicle, and a relative position for determining whether or not the relative position exists in a predetermined area in front of the vehicle A determination unit, wherein the avoidance target determination unit selects one determination algorithm from among the plurality of determination algorithms according to a set of a determination result of the speed component determination unit and a determination result of the relative position determination unit The vehicle periphery monitoring apparatus according to claim 1, wherein Relative position detecting means for sequentially detecting a relative position of the object to the vehicle;
A moving direction representing a moving direction of the object relative to the vehicle based on a time series of the relative position of the object detected by the relative position detecting unit in a time interval longer than the execution period of the determination process of the speed component determining unit. A moving direction feature amount calculating means for calculating the feature amount;
The determination algorithm selected by the avoidance target determination unit when the determination result of the speed component determination unit is negative is configured by an algorithm including at least a determination process related to the moving direction feature amount, and the determination of the speed component determination unit 2. The vehicle according to claim 1, wherein when the result is affirmative, the determination algorithm selected by the avoidance target determination unit is configured by an algorithm that does not include at least a determination process related to the moving direction feature quantity. Perimeter monitoring device. A moving direction representing a moving direction of the object relative to the vehicle based on a time series of the relative position of the object detected by the relative position detecting unit in a time interval longer than the execution period of the determination process of the speed component determining unit. A moving direction feature amount calculating means for calculating the feature amount;
The determination algorithm selected by the avoidance target determination unit when the determination result of the speed component determination unit or the determination result of the relative position determination unit is negative is constituted by an algorithm including at least a determination process related to the moving direction feature amount The determination algorithm selected by the avoidance target determination unit when the determination result of the speed component determination unit and the determination result of the relative position determination unit are affirmative does not include at least a determination process related to the moving direction feature amount The vehicle periphery monitoring device according to claim 4, wherein the vehicle periphery monitoring device is configured by an algorithm.