Patent ID: 8924140

Claim:
An external environment recognition device for a vehicle that recognizes an external environment of the vehicle on the basis of detected object information of a plurality of detected objects in front of a host vehicle, image information of an image in front of the host vehicle, and host vehicle information of a detected status of the host vehicle, comprising: predicted course setting means for setting a predicted course of the host vehicle on the basis of the host vehicle information; first collision determination means for computing a risk of collision of each of the detected objects with the host vehicle on the basis of the predicted course set by the predicted course setting means and the detected object information; second collision determination means for determining whether each of the detected objects enters the predicted course from outside of the predicted course or not on the basis of the predicted course and the detected object information; object selection means for selecting the detected object having the risk computed by the first collision determination means at least a preset first threshold and the detected object determined by the second collision determination means to enter the predicted course as selection candidate objects among the detected objects, and for selecting the selection candidate object having a minimum relative distance to the host vehicle or a minimum predicted collision time as a pedestrian determination request object from among the selected selection candidate objects; and pedestrian determination means for determining whether the pedestrian determination request object selected by the object selection means is a pedestrian or not using the image information; wherein, in a case where the selection candidate object selected as the pedestrian determination request object in a last process is included in the selected selection candidate objects, the object selection means identifies the selected selection candidate object as a reselection candidate object, and determines whether to omit the reselection candidate object from a selection candidate of the pedestrian determination request object or not on the basis of the predicted course and the detected object information.