Patent ID: 8189868

Claim:
A vehicle periphery monitoring device configured to monitor the periphery of a vehicle by using a captured image acquired by an imaging device mounted in the vehicle, comprising: an object extraction unit configured to extract an object from the captured image; a position determination unit configured to determine the real spatial position of the object extracted by the object extraction unit; an object determination unit configured to determine whether the object extracted by the object extraction unit is either a human being or a quadruped animal; a contact determination area setting unit configured to set a first contact determination area for determining the contact possibility level between the vehicle and a human being as the object when the object is determined by the object determination unit to be a human being, and to set a second contact determination area for determining the contact possibility level between the vehicle and a quadruped animal as the object when the object is determined by the object determination unit to be a quadruped animal, the second contact determination area having an overlapped area that overlaps with the first contact determination area and an overflowed area that has at least a part thereof overflowing from the first contact determination area; and an object report unit configured to report the presence of the object to the driver on a condition that the real spatial position of the human being as the object determined by the position determination unit is contained in the first contact determination area set by the contact determination area setting unit, or on a condition that the real spatial position of the quadruped animal as the object determined by the position determination unit is contained in the second contact determination area set by the contact determination area setting unit.