VEHICLE PERIPHERY MONITORING DEVICE AND VEHICLE PERIPHERY MONITORING METHOD

A vehicle periphery monitoring device is configured to: specify positions of detection points of an obstacle with respect to a vehicle based on detection results of multiple periphery monitoring sensors equipped to the vehicle; update the positions of the detected detection points corresponding to a position change of the vehicle; storing the updated positions of the detection points in a memory that maintains stored information during a parked state of the vehicle; and estimate, at a start time of the vehicle from the parked state, a position of a detection point, which is located in a blind spot and is not detected by all of the multiple periphery monitoring sensors at the start time of the vehicle, using the positions of the detection points stored in the memory.