Moving-object detection apparatus for vehicle

A moving-object detection apparatus for a vehicle, the moving-object detection apparatus comprising:

• a first detector configured to scan a rear-side region of the vehicle to detect a first target as a reference target;
• a second detector configured to scan a front-side region of the vehicle to detect a second target as the reference target;
• and
• a moving-object detector configured to detect a movement of a moving object on a basis of the first target detected by the first detector and the second target detected by the second detector, the moving object being determined with the first target and the second target,
• the moving-object detector including
• an interpolation-region setting unit configured to set a first interpolation region on an adjacent lane in a scanning region of the first detector and set a second interpolation region on the adjacent lane in a scanning region of the second detector, the adjacent lane being a lane that is adjacent to a lane on which the vehicle is traveling,
• an estimation-trajectory setting unit configured to set an estimation trajectory on a time axis on a basis of a traveling trajectory of the first target detected in the first interpolation region, the estimation trajectory being a trajectory for estimating a movement of the first target into the second interpolation region, and
• a target checking unit configured to check a matching degree between the estimation trajectory and the second target.