OUTSIDE ENVIRONMENT RECOGNITION DEVICE FOR VEHICLES AND VEHICLE BEHAVIOR CONTROL DEVICE USING SAME

摘要

In this outside environment recognition device for vehicles, the position of a moving body is reliably detected with high accuracy using only images of the vehicle periphery. A rear camera (12) mounted on a vehicle (10) acquires an original image (I) of the periphery of the vehicle (10), a movement region detection unit (54) detects a moving body from the original image (I), and a difference calculation unit (58) detects a moving body from an overhead view image (J), which is an overhead view of the vehicle (10) generated by an overhead view image generation unit (56). Further, if the detection body determination unit (60) determines that the moving bodies detected by the movement region detection unit (54) and the difference calculation unit (58) are the same moving body, then a moving body position specification unit (62) specifies the position of the moving object on the basis of the distance (Dk) from the vehicle (10) to the moving body detected by the movement region detection unit (54) or the difference calculation unit (58), the lateral position (FXk) of the moving body, and the actual width (WK) of the moving body detected by the movement detection region unit (54).