Abstract: A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.

Abstract: An anticipatory monitoring and prediction system can include methods for generating effective, accurate predictions of other traffic objects in the vicinity of an ego-car. The invention proposes to combine approximate probability distributions (ADPs) of agent states with Attractor Functions (AFs) for generating distributed probabilistic representations of the potential future states of the observed traffic objects. AFs are selected based on both the current road context, in which the ego-car is situated, and the current states of all participating objects. The generated predictions can be used to filter incoming sensory information for better object state estimations, rate the nature of the behavior of other traffic objects by comparing generated predictions with actual perceived sensor information, or infer accident likelihoods by comparing the predicted state distributions of objects and the ego-car. Warning and information signals or control commands can be issued in a driving assistance system.

Abstract: A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.