VEHICLE PERIPHERY MONITORING DEVICE, OBSTACLE DETECTING METHOD AND MEDIUM STORING OBSTACLE DETECTION PROGRAM

摘要

PROBLEM TO BE SOLVED: To calculate in a short time the distance from a vehicle to an obstacle existing closest to the vehicle and to speedily import it to a driver by selecting a search range, so as to be most shortened corresponding to the distance from the vehicle to the closest existing obstacle. SOLUTION: A search range Scn- rng is selected to be shortest, corresponding to a distance L between a closest existing obstacle 14 and a vehicle 11. Thus, in case of scanning along a scanning line Scn-k (0=k=m) to a stereo image including plural obstacles 14 (one is an obstacle 14 existing close to the vehicle and the other is an obstacle 14 existing away from the vehicle 11, rather than the obstacle 14, for example) at respectively different distances L from the vehicle 11, the search range Scn- rng can be set, while being limited to some degree so as to measure the parallax between the vehicle 11 and the obstacle 14 concerning the obstacle 14 existent closest to the vehicle 11, and scanning is enabled without troubling the driver.