PROBLEM TO BE SOLVED: To detect that a pedestrian takes an avoidance action in an earlier stage.SOLUTION: A front pedestrian is imaged by a camera S1 attached to, for example, a vehicle V. It is determined whether or not the pedestrian moves to left and right lateral directions on the basis of a relationship between a support base bottom face K of the pedestrian and a position of a physical gravity center G from the image of the pedestrian which is acquired by the camera S1. When the physical gravity center G exists on the support base bottom face K at a single-leg support time of the pedestrian, it is determined that the pedestrian moves toward the support base bottom face K side out of the left and right lateral directions. When a step width is enlarged at a both-leg support time, it can be also determined that the pedestrian performs an avoidance action to a side at which a front-side leg out of the left and right directions is located. In order to improve the accuracy of the determination, it can be also determined whether or not the action is the avoidance action by taking into consideration an inclination of a physique of the pedestrian and a moving speed to the lateral directions.SELECTED DRAWING: Figure 6
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