Vehicular peripheral surveillance device

A vehicular peripheral surveillance device comprising:

• a monitoring sensor which monitors an obstacle around a host vehicle;
• a state detection unit which detects any one of a traveling state of the host vehicle, a state of the traveling environment of the host vehicle, and a state of the driver of the host vehicle;
• and
• a risk computing unit which predicts a movement of the obstacle being monitored by the monitoring sensor using information acquired by the monitoring sensor, and computes a risk of the obstacle to the host vehicle on a basis of the predicted movement of the obstacle,
• wherein the risk computing unit changes a prediction range of the movement of the obstacle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit,
• the risk computing unit sets a natural number n, predicts a movement of an n-th obstacle which is around an (n−1)th obstacle and more distant from the host vehicle than the (n−1)th obstacle and also predicts a movement of the (n−1)th obstacle on a basis of the predicted movement of the n-th obstacle, and sequentially predicts movement of (n−2)th to first obstacles on the basis of movement of (n−1)th to second obstacles in the same manner, and
• the risk computing unit sets priority on a plurality of first obstacles around the host vehicle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit, and sequentially predicts the movement of the n-th to first obstacles while changing the natural number n in accordance with the priority.