Patent ID: 8284253

Claim:
A vehicular periphery monitoring apparatus configured to monitor a periphery of a vehicle according to an image acquired from a single imaging device mounted in the vehicle to denote the periphery of the vehicle, comprising: a first processing element configured to set a region in the image where an object is present as an object region and to determine a type of the object by matching shape patterns based on a shape of the object, and on basis of the type of the object, to set a partial region of the object region whose alignment with respect to the object region is predetermined according to the type of the object as a region where a partial portion of the object with relatively less motions is present as a local region; and a second processing element configured to calculate a change rate of the size of the local region in the image at different time and determine a distance from the vehicle to the object according to the change rate of the size of the local region, wherein the first processing element evaluates the degree of correlation between an enlarged local region obtained by enlarging a local region at a previous time and a local region at a posterior time later than the previous time; and the second processing element calculates the scale of enlargement of the local region at the previous time when the degree of correlation is the maximum as the change rate of the size of the local region.