To provide a peripheral vehicle monitoring device and a peripheral vehicle monitoring method in which a position of another vehicle can be acquired properly and easily even when occlusion has occurred.SOLUTION: A peripheral vehicle monitoring device 16 acquires a midpoint between a rear left end position and a rear right end position of another vehicle, as a position of the other vehicle, and also acquires a lateral width of the other vehicle. If a first condition is established where a change amount of the lateral width in a predetermined period is a predetermined first threshold or more, the peripheral vehicle monitoring device changes a present position of either the rear left end position or the rear right end position, having a larger change amount in the predetermined period, to a corrected position obtained by changing from the previous position by a preset correction value so as to become smaller than a change amount from the previous position to the present position, in order to acquire a midpoint between the present position of either the rear left end position or the rear right end position, having a smaller change amount in the predetermined period, and the corrected position, as a position of the other vehicle.SELECTED DRAWING: Figure 3
【課題】 オクルージョンが発生している場合にも他車両の位置を適切かつ容易に取得することができる周囲車両監視装置及び周囲車両監視方法を提供する。【解決手段】 周囲車両監視装置16は、他車両の後部左端位置及び後部右端位置の中点を他車両の位置として取得すると共に、他車両の横幅を取得し、横幅の所定の期間における変化量が所定の第1閾値以上である第1条件が成立した場合に、後部左端位置及び後部右端位置の内で所定の期間における変化量が大きい方の今回位置を、前回位置から今回位置への変化量よりも小さくなるように予め設定された補正値だけ前回位置から変化させた補正位置に変更し、後部左端位置及び後部右端位置の内で所定の期間における変化量が小さい方の今回位置と補正位置の中点を他車両の位置として取得する。【選択図】 図3
PERIPHERAL VEHICLE MONITORING DEVICE AND PERIPHERAL VEHICLE MONITORING METHOD
周囲車両監視装置及び周囲車両監視方法
2022-05-18
Patent
Electronic Resource
Japanese
VEHICLE PERIPHERAL MONITORING APPARATUS AND METHOD THEREOF
European Patent Office | 2021
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