Patent ID: 9135798
Filing Date: 2015-09-15
Classification: G06K,G08B,G08G

Abstract:
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 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