Periphery monitoring apparatus and program thereof

Abstract

A periphery monitoring apparatus is applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, setting a precaution region in a laterally rear side of an own vehicle and causing a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region. The periphery monitoring apparatus is provided with an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane; a recognition unit that recognizes a position of the lane marking based on the lane information; and a precaution region setting unit that sets the precaution region based on the position of the lane marking recognized by the recognition unit.