Collision avoidance assistance device for a vehicle

A vehicle comprising a collision avoidance assistance device, the collision avoidance assistance device comprising:

• a camera configured to acquire an image of an area around the vehicle;
• and
• an electronic control device configured to:
• detect an image of a tetrapod in the image of the area around the vehicle,
• determine a species of the tetrapod detected in the image,
• retrieve behavior characteristics index values representing behavior characteristics of the determined species of the tetrapod,
• calculate a future presence area of the tetrapod based on the behavior characteristics index values,
• determine a probability of a collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod, and
• perform a collision avoidance assistance function based on the determined probability of the collision between the tetrapod and the vehicle.

A collision avoidance method for a vehicle, the collision avoidance method comprising:

• acquiring an image of an area around the vehicle;
• detecting an image of a tetrapod in the image of the area around the vehicle;
• determining a species of the tetrapod detected in the image;
• retrieving behavior characteristics index values representing behavior characteristics of the determined species of the tetrapod;
• calculating a future presence area of the tetrapod based on the behavior characteristics index values;
• determining a probability of a collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod;
• and
• performing a collision avoidance assistance function based on the determined probability of the collision between the tetrapod and the vehicle.