Patent ID: 8917321

Claim:
A failure-determination apparatus comprising: a transmitting and receiving device that transmits an electromagnetic wave toward a predetermined region in the surroundings of a vehicle, and that receives a reflected wave caused by the electromagnetic wave reflected from an object in the surroundings of the vehicle; an image capturing device that captures an image of the predetermined region in the surroundings of the vehicle; a moving target determination device that determines whether or not the object detected by the transmitting and receiving device is a moving target; an object extraction device that extracts a pedestrian or another vehicle from the image captured by the image capturing device; and a failure-determination device that determines that the image capturing device is in an abnormal state when the object which has been determined to be the moving target by the moving target determination device, cannot be determined to be the pedestrian or the another vehicle by the object extraction device, wherein the lower the moving speed of the object, which has been determined as being the moving target by the moving target determination device, the less likely it will be that the image capturing device will be determined as being in the abnormal state.