Vehicle periphery monitoring device
A vehicle periphery monitoring device comprises: an in-region object detecting unit which detects an in-region object present in contact determination regions on the basis of a photographic image from a camera per prescribed control cycle; and a warning control unit which performs warning control processing to give warning of a detected in-region object when an in-region object was not detected in the last control cycle, but the in-region object was detected in the present control cycle, and to restrain warning of a new in-region object when an in-region object was detected in the last control cycle and the new in-region object different from the in-region object detected in the last control cycle has been detected in the present control cycle.
1. A vehicle periphery monitoring device comprising:
an in-region object detecting unit which detects an in-region object that is an object present in a contact determination region set at a periphery of a vehicle, based on detection data obtained by a thing detecting device which is mounted on the vehicle and detects a thing per prescribed control cycle; and
a warning control unit which performs warning control processing to give warning of a detected in-region object when the in-region object was not detected by the in-region object detecting unit in a last control cycle, but the in-region object is detected by the in-region object detecting unit in a present control cycle, and to restrain warning of a new in-region object when the in-region object was detected by the in-region object detecting unit in the last control cycle and the new in-region object different from the in-region object detected in the last control cycle is detected by the in-region object detecting unit in the present control cycle, wherein
a plurality of the contact determination regions are set;
the in-region object detecting unit detects the in-region object in each contact determination region; and
the warning control unit performs the warning control processing for each contact determination region.
2. The vehicle periphery monitoring device according to claim 1 , wherein
the plurality of contact determination regions are composed of a first region situated in a travelling direction of the vehicle and two second regions situated in left and right directions of the vehicle relative to the first region.
3. The vehicle periphery monitoring device according to claim 1 ,
comprising a gaze determining unit which determines whether or not a driver of the vehicle is gazing at the contact determination regions, wherein
the warning control unit gives warning of the new in-region object without restraining warning of the new in-region object if the driver of the vehicle is determined to be not gazing at the contact determination regions by the gaze determining unit.
4. The vehicle periphery monitoring device according to claim 1 ,
comprising a type detecting unit which detects a type of the in-region object, wherein
the warning control unit gives warning of the new in-region object without restraining warning of the new in-region object if a type of the new in-region object detected by the type detecting unit in the present control cycle is different from a type of the in-region object detected by the type detecting unit in the last control cycle.
5. The vehicle periphery monitoring device according to claim 1 , wherein
the warning control unit:
performs, as the warning, image display processing to display a position corresponding to a real space position of the in-region object on a display device mounted on the vehicle, and sound generating processing to generate attention calling sound from a sound generating device mounted on the vehicle; and
restrains the warning by only performing the image display processing among the image display processing and the sound generating processing.