JP2001101592A - Collision preventing device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the traffic conditions beforehand of a crossing road up to the back of the intersection of the road from a vehicle of its own at the time of entering the intersection or the like and to automatically take an appropriate measure for avoiding a collision on the side of its own vehicle corresponding to the detected result. SOLUTION: This collision preventing device for the vehicle is loaded on its own vehicle and for taking measures for avoiding the collision with another moving object on the side of its own vehicle. The device is provided with wide angle cameras 12A and 12B for picking up the images of the visual field of a wide angle, a means 23 for extracting the moving object during movement from the images picked up by the cameras, the means 22 for deciding whether or not there is the danger of colliding with the moving object when its own vehicle continues to travel as it is and the means 22 and 15-17 for automatically taking measures for avoiding the collision at the time of deciding that there is a danger of collision.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision prevention device for a vehicle, and more particularly to a collision prevention device for a vehicle (a vehicle other than the own vehicle, a bicycle, a person, etc.) which determines collision or contact on the own vehicle side. The present invention relates to a vehicular collision prevention device that automatically takes appropriate measures to avoid this.

[0002]

2. Description of the Related Art Generally, a collision accident or a collision accident involving a vehicle is very often caused by insufficient visibility of a driver. For example, at an intersection (including a T-junction, etc.)
So-called head-on collisions always account for a certain percentage of traffic accidents.

[0003] For this reason, in many cases, at the corner of the intersection,
A wide-angle mirror that reflects the scenery of the intersecting roads is installed. As another countermeasure, there is a method in which a mirror is attached to a corner portion of a hood of a vehicle so that an intersection road can be seen from a driver's seat. When approaching the intersection, the driver looks at the mirror to see how the intersection is going, and slowly moves his vehicle to the intersection.

[0004] In recent years, a camera for capturing an image of the front of the vehicle is mounted at the front end or inside the vehicle, and the image is displayed on a monitor of a driver's seat, and the driver checks the image to check the state of the intersection. Methods are also known.

[0005]

However, among the conventional countermeasures for preventing collision at an intersection, in the case of a mirror that stands at the intersection angle or a mirror that stands at the corner of the bonnet tip, in each case the driver looks at the mirror. I had to stare at it, sometimes. For this reason, even when the vehicle is traveling on a priority road, the driver tends to be distracted by obstacles in front of the vehicle, bicycles and people crossing from the left side in front of the vehicle, even though the vehicle is traveling slowly.

In the case of a wide-angle mirror at an intersection, the mirror surface may be dirty or reflect sunlight, which may make it difficult to see. Also, for some reason, the wide-angle mirror may not be oriented at an angle that accurately depicts the intersecting roads, or it may be damaged and not function at all.

[0007] On the other hand, in the case of the technique of taking an image of the front of the vehicle with a camera, the driver must watch the monitor when coming to the intersection, and the driver tends to lose his attention to the front of the vehicle.

In addition, when this camera is used, when the vehicle is located immediately before the intersection, the intersection within the field of view of the camera and the area around the intersection are narrow, and if the intersecting moving body does not come to the intersection, it can be captured by the camera. Most things you can't do. In other words, when the moving object is captured by the camera, the time allowed for collision avoidance, such as a brake operation, is very small in many cases, depending on running conditions.

Further, in any of the above-described methods using a mirror or a camera, it is necessary for the driver to take a final collision avoidance measure. Therefore, if the driver delays in perceiving the danger of a collision, the possibility of a collision increases accordingly. For this reason, it has been desired that the apparatus performs some kind of collision avoidance control.

The present invention has been made in view of such a conventional collision avoidance method, and when entering an intersection or the like, the situation is detected from the own vehicle in advance from the intersection of the intersecting road to a deep position. It is another object of the present invention to automatically take appropriate measures for collision avoidance in accordance with the detection result on the host vehicle side.

[0011]

In order to achieve the above-mentioned object, a vehicular collision prevention device according to the present invention is mounted on an own vehicle and takes measures for avoiding collision with another moving body. This is a vehicle collision prevention device to be adopted on the vehicle side.
The apparatus includes: an imaging unit that captures an image of a wide-angle field of view including at least an oblique front of the host vehicle; an extraction unit that extracts the moving body that is moving from an image captured by the imaging unit; Determining means for determining whether or not there is a risk of collision with the moving body when the vehicle continues to travel as it is, and automatically taking the above-described measures when the determining means determines that there is a risk of collision And a collision avoidance command means.

Preferably, the imaging means is a camera sensor, and is attached to a front bumper of the host vehicle or a vicinity thereof. In this case, the camera sensor is a camera having two fish-eye lens structures, and it is preferable that each camera is attached to the left and right ends of the front bumper of the vehicle. Further, the camera sensor may be a single omnidirectional sensor, and the omnidirectional sensor may be attached to a central portion of a front bumper of the vehicle.

In a further preferred aspect, in each of the above-described structures, the vehicle speed detecting means for detecting a vehicle speed of the own vehicle is provided, and the collision avoidance command means sets the vehicle speed detected by the vehicle speed detecting means to a vehicle speed threshold value. Discriminating means for discriminating based on
Execution means for executing the above-described measures having different contents according to the discrimination result.

[0014] In this case, the execution means may include at least one of a measure for temporarily suppressing the acceleration of the subject vehicle according to the discrimination result of the discriminating means, and a measure for automatically braking the subject vehicle. Means for executing one of the measures may be used.

The vehicle speed threshold comprises first and second vehicle speed thresholds (where first vehicle speed threshold <second vehicle speed threshold), and the execution means includes the discrimination means. When it is discriminated that the vehicle speed is smaller than the first vehicle speed threshold value, a measure for temporarily suppressing the acceleration of the own vehicle is executed, and the discrimination means reduces the vehicle speed to the first vehicle speed threshold value. When it is discriminated that the vehicle speed is equal to or higher than the vehicle speed threshold and smaller than the second vehicle speed threshold, a measure for automatically applying braking to the own vehicle is executed,
Furthermore, when the discrimination means discriminates that the vehicle speed is equal to or higher than the second vehicle speed threshold value, the discrimination means may execute a measure for issuing a warning to a driver of the own vehicle.

Accordingly, when entering an intersection or the like,
The situation can be detected in advance from the own vehicle from the intersection of the intersecting road to the back position, and appropriate measures for avoiding collision can be automatically taken by the own vehicle according to the detection result. Therefore, it is possible to solve various problems caused by the above-described conventional example.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle collision prevention device according to one embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 1 and 2, the vehicular collision prevention device includes a control device 11 installed at the bottom of a driver's seat, for example, and an electric system electrically connected to the control device 11. Prepare. The electric system includes two wide-angle cameras 12A and 12B as imaging means, a vehicle speed sensor 1
3, a steering angle sensor 14, a brake operating device 15, an accelerator operating device 16, an alarm device 17, and a changeover switch 18.

As shown in FIG. 2, the control device 11 has an interface 21 inserted on its input side, and a controller 22 and an image processor 23 are connected in parallel to an output terminal of the interface 21 by a bus. One of the control output terminals of the controller 22 is a D / A converter 2
4A, the amplifier 25A, and the driver 26A to reach the brake operator 15, and the other one reaches the accelerator operator 16 via the D / A converter 24B, the amplifier 25B, and the driver 26B. Further, another control output terminal is connected to the alarm device 17 via the D / A converter 27.

Of the above-described components, the wide-angle camera 12
Each of A and 12B is an imaging means which is formed by combining a fish-eye lens and a CCD camera and has a wide-angle field of view of 180 ° at the maximum. However, since a portion having a large viewing angle also has a large distortion, the viewing angle actually taken in as an image is often set to be smaller than 180 ° (for example, 70 ° to 160 °). ° to 6
(About 0 °: depending on the focal length). When a circuit or means for correcting such distortion is mounted or such processing is performed, the circuit may be used up to a full viewing angle of 180 °.

The two wide-angle cameras 12A and 12B are
As shown in FIG. 3, the lens portion is provided at both ends of the front bumper of the host vehicle C in such a manner that the lens portion slightly protrudes. Thereby, as shown in FIG. 4, for example, when the own vehicle C is going to cross the priority road, the wide-angle cameras 12A,
The 2B fields of view θa and θb can cover a position that is considerably far from the intersection of the intersecting roads (priority roads). That is, when the vehicle C is at least at the position immediately before the intersection, the objects moving in the visual fields θa and θb are captured by the wide-angle cameras 12A and 12B before entering the intersection.

The number of wide-angle cameras mounted is not limited to two, but may be three or more, thereby covering a wider field of view. Further, the installation position of the wide-angle camera is not limited to both ends of the front bumper, but may be any position as long as it is a position ahead of the driver and can see the left and right intersection road as far as possible. For example, it may be attached to both ends of the tip on the hood.

Further, the wide-angle camera as the imaging means having a wide-angle field of view is not limited to the above-mentioned fish-eye lens type camera. For example, a CCD using a rotating hyperbolic mirror so as to be able to image 360 ° in all directions. A camera, a so-called omnidirectional sensor, may be used. When this omnidirectional sensor is used, for example, as shown in FIG. 5, a single bumper may be provided at the center of the front bumper of the host vehicle C, and the light receiving portion may be provided so as to protrude somewhat. Reference numeral 40 in the figure denotes an omnidirectional sensor. Of course, a plurality of omnidirectional sensors can be provided.

The digital amount image signal output from each wide-angle camera 12A (12B) is
The data is sent to the image processor 23 through the interface 21. The image processor 23 specializes in a process of extracting a moving object such as a vehicle, a motorcycle, and a person from image data of each frame by various methods as described below.

In this extraction process, for example, “N.
eda, et. al. , “Moving Obsta
cle Detection Using Resid
ual Error of FOE Estimati
on, "Proc. of IROS-93, pp. 1.
857-18865, 1993, can be used.
The optical flow is a vector representing the movement of a minute area on the screen, and a moving object approaching the own vehicle can be detected by the optical flow.

The above-described extraction processing can also be performed in the same manner as in “Extraction of Moving Object from Moving Image Captured by Moving Camera” (Information Processing Society of Japan, 51st National Convention, 1995: written by Terakubo). The technique described in this document arranges a plurality of points of interest on an image and searches the time-series images for a correspondence between regions having the points of interest as vertices, thereby reducing the affine transformation parameters between the images by two. We propose a method to extract the moving object by obtaining it in stages.

The above-mentioned extraction processing is further described in
This may be performed based on the technique described in Japanese Patent No. 10864. Specifically, a moving object is extracted by applying a two-dimensional Laplacian filter to a moving vector field and subjecting the output value of the filter to threshold processing.

It should be noted that the above-described several types of methods can be combined and executed.

On the other hand, the vehicle speed sensor 13 outputs a signal corresponding to the vehicle speed based on the rotation speed of the axle to the controller 22 via the interface 21 in the form of a digital signal. The steering angle sensor 14 outputs a signal corresponding to the steering angle based on the steering wheel turning angle to the controller 22 via the interface 21 in the form of a digital signal.

The changeover switch 18 is a command means for enabling the passenger to manually arbitrarily prohibit the function of the collision prevention device, and is constituted by, for example, an on / off switch. The on operation of the changeover switch 18 allows the prevention function of the collision prevention device, and the off operation corresponds to prohibiting the prevention function. This switch signal is given to the controller 22, and is referred to in the control described later.

Although not shown, the controller 22 has a CP
It is composed of a computer having necessary elements such as U (central processing unit), ROM, and RAM. Controller 22
Are the extracted data of the moving object processed by the image processor 23, and the vehicle speed sensor 13 and the steering angle sensor 14.
Based on this detection signal, control for preventing collision is performed as shown in FIG.

As a result of the processing by the controller 22,
When it is determined that a measure for avoiding a collision is necessary, a control signal is output from the controller 22 to the brake operating device 15, the accelerator operating device 16, or the alarm device 17.

The control signal output to the brake operating device 15 is for instructing an operation of automatically applying the brake 31. This control is automatically performed by the driver regardless of whether the driver depresses the brake 31 or not. It is designed to command braking.

The control signal output to the accelerator operation device 16 is for temporarily prohibiting (suppressing) the driver from stepping on the accelerator 32. When this control is issued, the driver releases the accelerator 32. If you step on it you will not be able to accelerate or step further.

The control signal output to the alarm device 17 is a signal for issuing an alarm.

Next, the operation and effect of the present embodiment will be described focusing on the processing routine of FIG. 6 executed by the controller 22. The processing routine shown in FIG. 11 is executed as a timer interrupt processing every fixed time Δt (for example, 20 msec).

The controller 22 enters a processing routine shown in FIG. 6 every Δt time. When this processing routine starts,
First, a switch signal of the changeover switch 18 is read, and it is determined whether or not the present collision prevention device can be operated. If this determination is NO, the process returns to the main routine without performing any processing, and as a result, the function of the collision prevention device becomes ineffective. Conversely, if the judgment is YES,
Since the processing shifts to the processing after step S2, the state of the function of the collision prevention device is exhibited. The selection of whether to enable or disable this function is an optional matter for the driver or the like.

When the collision prevention function is effectively selected, the controller 22 determines whether or not flags F1 and F2 described later are set (F1 and F2 = 1) (steps S2 and S3). .

If both the flags F1 and F2 have been lowered (F1 and F2 = 0), the controller 22 reads the current vehicle speed and steering angle from the respective sensors 13 and 14 and temporarily stores them (step S4). . Next, the image processor 23 is made to input the image data at that time from the wide-angle cameras 12A and 12B. For example, for each image of each camera, the moving object in the image is extracted using the image data of the previously input frame. Is executed by a known appropriate method (steps S5 and S6).

Next, the controller 22 receives the result of the extraction of the moving object by the image processor 23, and judges whether or not the moving object exists (step S7). When this determination is NO, that is, when it is recognized that the moving object does not exist in the image, the process returns to the main routine.

On the other hand, if YES is determined in the step S7, the approach direction and approach speed of the moving body are further specified, and it is determined whether or not the moving body may collide with the vehicle C. The determination is made in consideration of the vehicle speed and the steering angle (that is, the traveling direction) of the vehicle (steps S8 and S9).

For example, at an intersection, as shown in FIG.
If the other vehicle OC is traveling from the left and the own vehicle C also enters the intersection at some speed, there is a risk of collision. However, the "risk of collision" referred to here is a result of processing the speed and the traveling direction of the other vehicle OC and the own vehicle C at a certain time based on a predetermined algorithm, and in the present embodiment, There is a fear of collision,
It is represented by the binary information of “none”. "Possible collision" or "No fear of collision"
It depends on the algorithm.

If it is determined in step S9 that the moving direction and the moving speed do not affect the traveling of the host vehicle C even if the moving object is found, it is determined that there is no risk of collision at that time. Is determined. For example, as shown in FIG. 4, the speed of the other vehicle OC on the intersection road traveling toward the intersection is slow and there is no problem even if the own vehicle amount C goes straight, or the own vehicle C from the opposite side of the intersection. In the case of another vehicle OC 'on the oncoming lane coming straight toward, it is determined that there is no risk of collision. However, even in such a situation, at the time of the next determination, if the speed of the other vehicle OC in FIG. Fear ".

If the determination in step S9 is YES, that is, "there is a possibility of collision", the host vehicle C at that time is determined.
Then, appropriate measures for preventing collision are taken according to the vehicle speed value (steps S10 to S20). In order to discriminate this type of measure, the first vehicle speed threshold V1 = 5 km / h and the second vehicle speed threshold V2 = 15 km / h are set as an example. This threshold can be arbitrarily changed.

The measures for preventing collision here include, in particular, a situation in which the other road crossing the intersection is a priority road, and the host vehicle C moves on to the priority road after a temporary stop and then proceeds slowly. The emphasis is on situations such as going out of an alley onto a large road. This means that when the vehicle is in low speed,
This is because forcible intervention in the operation of the brake or the accelerator is likely to be an appropriate measure. When the host vehicle is running at a high speed, the influence of the driver's operation on the prevention of collision is large. Therefore, such a compulsory intervention is not performed, and the driver is warned of "a possibility of collision".

More specifically, the controller 22 determines whether or not the current vehicle speed is less than V1 (5 km / h). If the answer is YES, the controller 22 instructs to temporarily suppress the accelerator operation. The counter CNT1 is set to α1 (steps S10 to S12). As a result, even when the accelerator operation device 16 functions and the driver tries to depress the accelerator 32, the operation becomes ineffective.
The state of the accelerator suppression is stopped in an appropriate short time, and the duration of the suppression state is determined by the flag F1 and the counter value α1.

That is, after step S12, the process returns to the main routine, and the process returns to step S1 after Δt seconds. Therefore, in step S2, Y
If it is determined that ES (F1 = 1), the count down of the count value of the counter CNT1 is performed, and “α1-1” is executed.
It is determined whether or not the count value = 0 (steps S13 and S14). This determination is continued for each timer interrupt until the decremented count value becomes zero. Therefore, when F1 = 1 and α1 = 5, the accelerator suppression state effectively functions for one second when Δt = 20 msec. Therefore, even if there is a risk of collision in this slow-moving state, the vehicle is decelerated slightly, without being forcedly accelerated, so that such collision can be avoided.

On the other hand, if the determination in step S10 is NO, the vehicle speed is equal to or higher than the first threshold value V1. in this case,
It is again determined whether or not the current vehicle speed <V2 (15 km / h), and if YES (that is, 5 km / h ≦ vehicle speed <15)
km), command to apply the brake automatically,
Further, the flag F2 = 1 and the counter CNT2 = α2 are set (steps S15 to S17). As a result, the brake operating device 15 functions and the brake is automatically applied regardless of whether or not the driver is going to step on the brake, and a braking state is established. This automatic braking state is stopped in an appropriate short time, and the duration of the braking state is determined by the flag F2 and the counter value α2.

That is, after step S17, the process returns to the main routine, and the process returns to step S1 after Δt seconds. Therefore, in step S3, Y
If it is determined that ES (F2 = 1), the countdown of the count value of the counter CN2 "α2-1" is executed, and it is determined whether or not the count value = 0 (steps S18, S19). This determination is continued for each timer interrupt until the decremented count value becomes zero. Therefore, the automatic braking state is enabled only for an appropriate time according to the values of α2 and Δt. Therefore, even if there is a risk of collision in this slow-moving state, the vehicle is positively and reliably decelerated, so that such collision can be avoided.

When the determination in step S15 is NO, the vehicle speed exceeds the second threshold value V2. In this case, to alert the driver promptly,
An instruction to issue an alarm is issued to the alarm 17 (step S2).
0). Since this warning is issued in a timely manner and is usually issued while the driver is looking ahead, it is easy for the driver to take appropriate collision avoidance measures such as deceleration at his own discretion.

In the collision prevention processing shown in FIG. 6, the threshold value for discriminating the degree of the vehicle speed is not limited to the first and second values. May be used, or three or more threshold values may be set and control may be performed more finely. Further, even when the vehicle speed is equal to or lower than the threshold value, when it is determined that there is a possibility of collision, an alarm may be issued together.

The automatic braking and the accelerator suppression as the collision avoidance measures may be performed by only one of them.

As described above, according to the present embodiment, the image pickup means having a wider angle than the conventional camera is used, and the image pickup means is provided at the position in front of the vehicle. It is possible to see through to the position. The “position immediately before the intersection” is, for example, 6 to 8 m
This is a situation in which a wide-angle camera part is approaching about 0 to 2 m at an intersection of a road having a width of about 2 m.

For this reason, before the position of the driver becomes the "position immediately before the intersection", the situation of the road in the crossing direction can be detected as soon as possible, so that the driver can afford to take appropriate measures. Moreover, if the vehicle speed at that time is low, the device itself takes appropriate measures to avoid collisions,
Since it assists driving, the certainty of collision avoidance is further enhanced, and it can contribute to safe driving.

Furthermore, unlike a wide-angle mirror at an intersection or a conventional camera device, there is no need to keep the line of sight away from the front of the vehicle, so there is no danger that attention to the moving body ahead will be neglected due to mirror gaze. Further, the inconvenience of being affected by dirt on the wide-angle mirror, reflection of sunlight, and the like is released.

In this way, when approaching an intersection or the like, the situation can be detected in advance from the own vehicle from the intersection of the intersecting road to a deep position, and appropriate measures for avoiding collision can be made according to the detection result. Can be automatically implemented on the own vehicle side.

The above operation is not limited to the case where the moving body moving at the intersection or the like is another vehicle, but can be obtained similarly for a bicycle or a person. Furthermore, the place where the present collision prevention device can function is not limited to intersections, and it is to be constantly operated during traveling to exert the same effect on children and bicycles that may jump out from the side of the road. Can be.

The algorithm of the processing shown in FIG. 6 is an example showing a technical idea in accordance with the gist of the present invention, and this algorithm can take various forms.

[0059]

As described above, according to the vehicle collision prevention device of the present invention, when entering an intersection or the like,
Since the situation is detected in advance from the own vehicle from the intersection of the intersecting road to the back position from the own vehicle, and appropriate measures for avoiding collision are automatically taken on the own vehicle side according to this detection result,
This can greatly contribute to collision prevention.

[Brief description of the drawings]

FIG. 1 is a conceptual configuration diagram showing a vehicle collision prevention device according to the present invention.

FIG. 2 is a block diagram showing a schematic configuration of an electric system of the collision prevention device.

FIG. 3 is a diagram illustrating a mounting position of a wide-angle camera.

FIG. 4 is a view for explaining the own vehicle and the field of view of a wide-angle camera at an intersection.

FIG. 5 is a diagram illustrating an attachment position of another wide-angle camera.

FIG. 6 is a schematic flowchart showing a collision avoidance processing routine processed by the controller.

[Description of Signs] 11 Controller 12A, 12B Wide-angle camera (imaging means) 13 Vehicle speed sensor (judgment means) 14 Steering angle sensor (judgment means) 15 Brake actuator (collision start command means) 16 Accelerator operator (collision start command) Means) 17 Alarm (collision start command means) 22 Controller (judgment means, collision avoidance command means) 23 Image processor (extraction means) 40 Omnidirectional sensor (imaging means)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Nobuyuki Takeda 8-6-26 Motoyama Minamicho, Higashinada-ku, Kobe City, Hyogo Prefecture Inside Toshiba Kansai Research Center Co., Ltd. 8-6-26 Inside Toshiba Kansai Research Center Co., Ltd. (72) Inventor Shinhisa Kishikawa 8-6-26 Motoyama Minami-cho, Higashinada-ku, Kobe City, Hyogo Prefecture Inside Toshiba Kansai Research Center Co., Ltd. (72) Inventor Masayuki Maruyama Hyogo 8-6-26 Motoyama-minami-cho, Higashinada-ku, Kobe, Japan F-term in Toshiba Kansai Research Center Co., Ltd. 5H180 AA01 CC04 CC07 CC27 LL04 LL06 LL09 LL15 5H209 AA10 BB09

Claims (7)

[Claims] 1. A vehicle collision prevention device mounted on an own vehicle and taking measures for avoiding a collision with another moving body on the own vehicle side, including at least an oblique front of the own vehicle. Imaging means for taking an image of a wide-angle field of view, extraction means for extracting the moving body that is moving from the image taken by the imaging means, and the moving body when the own vehicle continues traveling as it is. Determining means for determining whether there is a possibility of collision; and collision avoidance command means for automatically taking the above-mentioned measure when the determining means determines that there is a possibility of collision. Anti-collision device for vehicles. 2. The collision preventing device for a vehicle according to claim 1, wherein the image pickup means is a camera sensor, and is attached to a front bumper of the own vehicle or a vicinity thereof. 3. The vehicle collision prevention device according to claim 2, wherein the camera sensor is a camera having two fisheye lens structures, and each of the cameras is attached to a left and right end of a front bumper of the own vehicle. Anti-collision device. 4. The vehicle collision prevention device according to claim 2, wherein the camera sensor is a single omnidirectional sensor, and the omnidirectional sensor is attached to a central portion of a front bumper of the vehicle. Prevention device. 5. The vehicle collision prevention device according to claim 1, further comprising a vehicle speed detection unit configured to detect a vehicle speed of the host vehicle, wherein the collision avoidance command unit is configured to detect the vehicle speed by the vehicle speed detection unit. An anti-collision device for a vehicle, comprising: a discriminating unit that discriminates a detected vehicle speed based on a vehicle speed threshold value; 6. The collision prevention device for a vehicle according to claim 5, wherein the execution unit temporarily suppresses the acceleration of the own vehicle in accordance with a result of the discrimination by the discrimination unit. An anti-collision device for a vehicle, which is a means for performing at least one of automatic braking measures. 7. The vehicle collision prevention device according to claim 5, wherein the vehicle speed threshold value is a first and second vehicle speed threshold value (where, first vehicle speed threshold value <second vehicle speed threshold value). The execution means executes a measure to temporarily suppress the acceleration of the own vehicle when the discrimination means discriminates that the vehicle speed is smaller than the first vehicle speed threshold value. When the discrimination means discriminates that the vehicle speed is equal to or higher than the first vehicle speed threshold and lower than the second vehicle speed threshold, the own vehicle is automatically braked. And a means for executing a measure for issuing a warning to a driver of the own vehicle when the discrimination means discriminates that the vehicle speed is equal to or higher than the second vehicle speed threshold value. Anti-collision device.