To provide a vehicle surrounding monitoring device equipped with an image detection means, the monitoring device having improved accuracy of calculating the relative moving vectors between an object and its own vehicle.
The vehicle surrounding monitoring device 1 is used for detecting the relative moving vectors between an object and its own vehicle and is equipped with; a millimeter-wave radar 2 for generating distance information and horizontal position information of the object with respect to its own vehicle; a stereo-camera 3 for generating left end horizontal position information and right end horizontal position information of the object; and an ECU 4 for calculating the relative moving vectors between the object and its own vehicle based on the distance information, left end horizontal position information and right end horizontal position information. The ECU 4 calculates the relative moving vectors by weighting the left end horizontal position information and the right end horizontal position information, and applies heavier weight to the position information closer to the center of an image between the left end horizontal position information and the right end horizontal position information.
COPYRIGHT: (C)2009,JPO&INPIT
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Yoshiki Kuroki
Hikaru Suzuki