Surroundings monitoring apparatus of the vehicle

The object candidates extracted from the captured image, after pre-exclusion process (filtering), and performs type determination. Here, 該除 outside the process, object candidates, assumed to have a predetermined size set in advance for the object candidate of the desired type, based on the size of the object candidates in the current image, vehicle calculating the distance (Z0) to the target candidates, calculates the moving distance of the vehicle in which the previous image is generated at a time interval until the time that the current image is captured from the time taken ([Delta] Z), currently in the image the size of the object candidates, reduced by the rate of change based on the distance and the moving distance to the object candidate, a size of the object candidates in the past in the image, the reduced object candidate for a change rate the magnitude of the (Ghv) is compared with. Difference between excludes the determined object candidate greater than the predetermined value. Is performed a fine type determination on excluding coarse anything other than the desired object, it is possible to reduce the erroneous determination to reduce the calculation load.