Approaching object detecting device, the approaching object detection method and the approaching object detection for computer program

摘要

An approaching object detection device that detects moving objects approaching a vehicle on the basis of images generated by an image pickup unit that captures images of surroundings of the vehicle at certain time intervals, the approaching object detection device includes: a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, detecting moving object regions that each include a moving object from an image; obtaining a moving direction of each of the moving object regions; and determining whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion.