Periphery monitoring device and program

Abstract

To provide a surrounding monitoring device that can keep a collision suppressing operation from operating unnecessarily.SOLUTION: An ECU 30 makes a moving object that is approaching from a lateral side ahead of an own vehicle perform a collision suppressing operation. The ECU 30 comprises: an image acquisition unit 35 that acquires an image ahead of the own vehicle in a traveling direction thereof from an imaging device 22 at a predetermined period; a movement amount calculation unit 36 that, for a moving object recognized in the image, calculates a movement amount of the moving object in a vehicle width direction of the own vehicle via optical flow processing; a deceleration determination unit 37 that determines that a speed of the moving object has reduced in the vehicle width direction on a side ahead of the own vehicle on the basis of a change rate of the movement amount calculated by the movement amount calculation unit; and a restriction unit 38 that restricts an execution of the collision suppressing operation on the basis of a determination result of the deceleration determination part.SELECTED DRAWING: Figure 1

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