External environment recognition device for vehicle and vehicle behavior control device using the same

摘要

A position of a moving object is reliably detected with high accuracy by using only an image around a vehicle. A rear camera (12) mounted on a vehicle (10) obtains an original image (I) around the vehicle (10), a movement region detector (54) detects a moving object from the original image (I), and a difference calculator (58) detects the moving object from a bird's-eye view image (J) of the vehicle (10) generated by a bird's-eye view image processor (56). A moving object position identifying part (62) identifies a position of the moving object based on a distance from the vehicle (10) to the moving object detected by the movement region detector (54) or the difference calculator (58), a lateral direction position (FXk) of the moving object, and an actual width (Wk) of the moving object detected by the movement region detector (54) when a detected object determination part (60) determines that the moving objects detected by the movement region detector (54) and the difference calculator (58) are the same moving object.