Vehicle surroundings monitoring device
A vehicle surroundings monitoring device includes a moving direction determining unit 20 which determines whether a physical body is moving in a traveling direction of a self vehicle or a transverse direction orthogonal to the traveling direction, from a change in a detection position of the physical body by a laser radar 8 , wherein a classification determining unit 21 executes a first classification determining process of determining the physical body determined to be moving in the traveling direction as a four-wheel vehicle when dimensions of the physical body obtained from the detected position by the laser radar 8 is within a range of A 1 , and a second classification determining process of determining the physical body determined to be moving in the transverse direction as the four-wheel vehicle when the dimensions of the physical body obtained from the detected position by the laser radar 8 is within a range of B 1.
1. A vehicle surroundings monitoring device equipped with a radar which is mounted on a vehicle and which detects a relative position of the vehicle and a physical body existing within a first monitoring range in the surroundings of the vehicle, a camera which is mounted on the vehicle and which images a second monitoring range overlapping the first monitoring range, and a classification determining unit which determines a classification of the physical body existing in the surroundings of the vehicle based on detection data from the radar and a photographed image from the camera,
wherein the classification determining unit is configured to execute a process of excluding the physical body whose classification was determined based on the photographed image and then to execute classification determination based on the detection data from the radar with respect to the physical body whose classification has not been determined.
2. The vehicle surroundings monitoring device according to claim 1 further comprising:
a moving direction determining unit which determines whether the physical body is moving in a traveling direction of the vehicle or is moving in a transverse direction orthogonal to the traveling direction, from a change in a detected position or a detected velocity of the physical body by the radar,
wherein the classification determining unit is configured to determine whether the physical body is a bicycle or a pedestrian by the radar, in a case where the physical body determined by the moving direction determining unit is determined to be moving in the traveling direction of the vehicle.
3. The vehicle surroundings monitoring device according to claim 2 further comprising:
wherein the classification determining unit is configured to determine whether the physical body is a two-wheel vehicle or a bicycle by the radar, in a case where the physical body determined by the moving direction determining unit is determined to be moving in the transverse direction of the vehicle.
4. The vehicle surroundings monitoring device according to claim 2 , wherein the execution of the classification determination by the classification determining unit is based exclusively on the detection data from the radar with respect to the physical body whose classification has not been determined.
5. The vehicle surroundings monitoring device according to claim 2 , wherein the execution of the classification determination by the classification determining unit is based on the detection data from the radar with respect to the physical body whose classification has not been determined in a case where reliability of the photographed image is decreased due to influence of the environment.
6. The vehicle surroundings monitoring device according to claim 5 , wherein the execution of the classification determination by the classification determining unit is based exclusively on the detection data from the radar with respect to the physical body whose classification has not been determined.
7. The vehicle surroundings monitoring device according to claim 1 further comprising:
a moving direction determining unit which determines whether the physical body is moving in a traveling direction of the vehicle or is moving in a transverse direction orthogonal to the traveling direction, from a change in a detected position or a detected velocity of the physical body by the radar,
wherein the classification determining unit is configured to determine whether the physical body is a two-wheel vehicle or a bicycle by the radar, in a case where the physical body determined by the moving direction determining unit is determined to be moving in the transverse direction of the vehicle.