In relativistic ion collisions there are excellent opportunities to produce and investigate hypernuclei. We have systematically studied the formation of hypernuclear spectator residues in peripheral heavy-ion collisions with the transport DCM and UrQMD models. The hyperon capture was calculated within the potential and coalescence approaches. We demonstrate that even at the beam energies around and lower than the threshold for producing Λ hyperons in binary nucleon-nucleon interactions a considerable amount of hypernuclei, including multistrange ones, can be produced. This is important for preparation of new experiments on hypernuclei in the wide energy range. The uncertainties of the predictions are investigated within the models, and the comparison with the strangeness production measured in experiments is also performed.