Patent ID: 8234065

Claim:
A vehicle navigation apparatus for use in a subject vehicle, comprising: an imaging device for taking an image of a periphery adjacent to the subject vehicle; a guidance point determining device for determining whether the subject vehicle is located at a traveling guidance point; an object detecting device for detecting a moving object by comparing two images of the periphery taken by the imaging device at a predetermined interval, when the guidance point determining device determines that the subject vehicle is located at the traveling guidance point; and a traveling guiding device for performing a traveling guidance by using the moving object detected by the object detecting device as a target object of the traveling guidance, wherein the object detecting device determines whether the detected moving object exists around an intersection, the object detecting device determines whether the detected moving object enters or leaves the intersection, when the object detecting device determines that the detected moving object exists around the intersection, and the traveling guidance device performs the traveling guidance by using the moving object entering or leaving the intersection, when the object detecting device determines that the detected moving object enters or leaves the intersection.