Patent ID: 6714139
Filing Date: 2004-03-30
Classification: G01S

Abstract:
A periphery monitoring apparatus for a vehicle traveling on ground comprising:object position detecting means having an in-vehicle monitoring means for monitoring the periphery of the vehicle to produce a monitoring signal representative of an environmental condition, said object position detecting means for detecting the positions of an object on coordinates set with respect to the position and monitoring direction of said monitoring means and at prescribed time intervals on the basis of said monitoring signal; movement quantity detecting means for detecting the position and movement quantity of said monitoring means in the monitoring direction which moves for a prescribed time while the vehicle moves; expected object locus computing means for computing a real locus of said object on the basis of the positions of said object and said movement quantity of the monitoring means and computing an expected locus of said object on the basis of said real locus of the object; expected vehicle locus computing means for computing an expected locus of the vehicle; and danger determining means for determining whether or not there is a danger of collision between the object and the vehicle on the basis of both the expected loci of the object and the vehicle.