The positions of an object on the sideward position of a vehicle are detected at prescribed time intervals. An expected locus of the object is computed on the basis of the positions of the object detected at the prescribed time intervals. An expected locus of the vehicle is also computed. It is determined...http://www.google.com/patents/US20010008992?utm_source=gb-gplus-sharePatent US20010008992 - Periphery monitoring device for motor vehicle and recording medium containing program for determining danger of collision for motor vehicle
