JP2006218885A - Collision determining device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve accuracy and reliability, when discriminating a collision state and a collision object, when a collision occurs. <P>SOLUTION: An object determining part 45 detects a classification and a collision form of an object, by determining whether or not a history line for indicating a time change in hardness P of the object outputted from a hardness determining part 43 and the size S of the object outputted from a size determining part 44, cross respective threshold values for dividing a plurality of areas for designating the size of a load of the object acting on a deformation sensor 11, on a PS map for indicating a correlation between the size S of the object and the hardness P of the object. A device driving determining part 46 determines whether or not operation of an occupant protective device 12 and a pedestrian protective device 14 is required, by determining whether or not the history line for indicating a time change of the product (P×S) and an equivalent relative speed ν crosses the respective threshold values for dividing the plurality of areas for designating violence of a collision, on a (PS) ν map for indicating a correlation between the product (P×S) and the equivalent relative speed ν. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle collision determination device.

Conventionally, for example, a collision sensor such as a pressure sensor, that is, a sensor capable of detecting a deformation amount corresponding to a collision load is disposed at the front, rear, or side of the host vehicle, and the magnitude of the detection signal output from the collision sensor (For example, the deformation amount of the collision part) and the time change of the magnitude of the detection signal and the speed of the host vehicle detected by the vehicle speed sensor or the relative speed between the target object detected by the radar device and the host vehicle. When a collision object that has collided with the host vehicle is detected, it is determined whether or not the collision object is a pedestrian, and when it is determined that the detected collision object is a pedestrian, for example, on the hood of the host vehicle There is known a vehicle collision determination device that activates a pedestrian protection device such as an airbag device that can deploy an airbag (see, for example, Patent Document 1).
JP 11-310095 A

By the way, in the vehicle collision determination device according to the above-described prior art, the strength of the collision is detected according to the magnitude of the collision load detected at the time of the collision, and the speed of the own vehicle detected immediately before the collision, Based on the relative speed between the collision object detected immediately before the collision and the host vehicle, the type of collision object and the collision form are determined. However, the state of the collision that has actually occurred is not directly reflected in the state quantities such as the speed and relative speed of the host vehicle detected immediately before the collision.
For this reason, it is desired to appropriately determine the collision mode according to the state of the collision that has actually occurred, and to further improve the reliability in determining the type and type of the collision object.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle collision determination device capable of improving the accuracy and reliability in determining a collision state and a collision object when a collision occurs. To do.

  In order to solve the above-described problems and achieve the object, a vehicle collision determination apparatus according to a first aspect of the present invention is a member constituting an outer surface of a vehicle (for example, the front bumper face 2 in the embodiment). ) Detecting means (for example, the deformation sensor 11 in the embodiment) for detecting at least one of the curvature of the member related to the deformation of the member and the time change of the curvature, and an object contacts or collides with the vehicle A speed state quantity related to a relative speed between the vehicle and the object (for example, an equivalent relative speed ν in the embodiment) and a size of the object based on the state quantity detected by the detection unit. A size state quantity (for example, an object size S in the embodiment) and a load state quantity (for example, an implementation) related to a load per unit size of the object that acts between the vehicle and the object. Form of Collision state quantity detection means (for example, energy state quantity calculation unit 41, hardness state quantity calculation unit 42, hardness determination unit 43, size determination unit 44 in the embodiment) And a collision state determination unit that determines a collision state according to the speed state amount, the magnitude state amount, and the load state amount detected by the collision state amount detection unit (for example, an object determination unit in the embodiment) 45 and a device drive determination unit 46).

According to the vehicle collision determination device having the above-described configuration, first, time-dependent primary integration or first-order differentiation processing is performed on the detection result of the detection unit as necessary, and the state quantity related to the curvature of the member and the member A state quantity related to a change in curvature with time (that is, a first-order differential value with respect to time of curvature) is detected. Then, the collision state quantity detection means calculates the energy of bending strain acting when the member is deformed based on the state quantity relating to the curvature of the member, and further acts between the vehicle and the object based on the energy of the bending strain. A load state quantity related to the load is calculated. Further, the collision state quantity detecting means calculates a time change of the bending strain energy based on the state quantity related to the curvature of the member and the state quantity related to the time change of the curvature of the member, and further, the energy of the bending strain is calculated. The speed state quantity related to the relative speed between the vehicle and the object is detected based on the time change (that is, the first-order differential value related to the time of energy) and the load state quantity. Further, the collision state quantity detection means calculates the deflection of the member that occurs with the deformation of the member based on the state quantity relating to the curvature of the member, and further, the magnitude related to the size of the object based on the position distribution of the deflection. The state quantity is calculated. Further, the collision state quantity detecting means classifies the state quantity relating to the curvature of the member and the state quantity relating to the time change of the curvature of the member according to a plurality of frequency bands, and the time change of the bending strain energy for each frequency band. Further, based on the time change of the energy of bending strain for each frequency band, the load state quantity related to the load per unit size of the object acting between the vehicle and the object (for example, the hardness of the object) Etc.). The collision state determination means is, for example, a speed state quantity, a magnitude state quantity, a load state quantity, and a collision according to the speed state quantity, the magnitude state quantity, and the load state quantity detected by the collision state quantity detection means. The collision state is determined by four parameters including the product of the speed state quantity, the magnitude state quantity, and the load state quantity according to the time change of the bending strain energy, which is a state quantity indicating the intensity of the load.
As a result, for example, the bending strain energy and the time variation of the bending strain energy are collided with the pedestrian (that is, the pedestrian protection device of the pedestrian protection device). It is possible to easily and in detail determine a plurality of collision states that are equivalent to the value for a collision that requires operation.

  Furthermore, the vehicle collision determination device according to the second aspect of the present invention is the vehicle type according to the speed state quantity, the magnitude state quantity, and the load state quantity detected by the collision state quantity detection unit. It is characterized by comprising an object detection means (for example, the object determination unit 45 in the embodiment) for detecting the above.

  According to the vehicle collision determination device having the above configuration, the speed state quantity related to the relative speed between the vehicle and the object, the size state quantity related to the size of the object, and the unit of the object acting between the vehicle and the object Based on the load state quantity related to the load per size (for example, the hardness of the object), the object whose bending strain energy changes with time for the type of the object, especially the appropriate speed state quantity. Types, for example, types of objects such as trash bins, large dogs, guardrail ends, poles, and the like having values equivalent to those for pedestrians can be determined easily and accurately.

  Furthermore, the vehicle collision determination device according to the third aspect of the present invention is a protection device that protects the object according to the type of the object detected by the object detection means (for example, a pedestrian in the embodiment). A drive control means (for example, a drive command output unit 47 in the embodiment) for controlling the drive of the protection device 14) is provided.

  According to the vehicle collision determination device having the above-described configuration, it is possible to appropriately control the presence / absence and operation state of the protection device according to the detection result of the object type.

As described above, according to the vehicle collision determination apparatus of the present invention, a plurality of collisions in which the energy of bending strain becomes an equivalent value, such as a high-speed collision with a light object and a low-speed collision with a heavy object, for example. The state can be determined easily and in detail.
Furthermore, according to the vehicle collision determination apparatus of the present invention described in claim 2, the type of the object, particularly the type of the object in which the time change of the bending strain energy is equivalent to an appropriate speed state quantity, For example, it is possible to easily and accurately determine the type of an object such as a trash box, a large dog, an end of a guardrail, or a pole having a value equivalent to that for a pedestrian.
Furthermore, according to the vehicle collision determination device of the third aspect of the present invention, it is possible to appropriately control the presence / absence and operation state of the protection device according to the detection result of the type of the object.

Hereinafter, a vehicle collision determination apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The vehicle collision determination device 10 according to the present embodiment relates to deformation that occurs on the outer surface of the vehicle 1 due to, for example, contact and collision between the outer surface of the vehicle 1 and an object (hereinafter simply referred to as a collision). A deformation sensor 11 that detects a state quantity, and various occupant protection devices 12 (for example, an airbag device 12a that deploys an airbag in a passenger compartment or a seat belt) are forcibly wound based on detection signals output from the deformation sensor 11. Take-up seat belt retractor 12b) and various pedestrian protection devices 14 (for example, a bonnet hood lifting device 14a for forcibly ascending the hood and an airbag device for deploying an airbag on the hood). An electronic control unit (ECU) 15 that controls the operation is provided.
In addition to the detection signal output from the deformation sensor 11, the electronic control unit 15 detects a detection signal output from an acceleration sensor (not shown) provided in the electronic control unit 15, and the front of the vehicle 1, for example. Various occupant protection devices based on detection signals output from satellite sensors (not shown) each consisting of a pair of acceleration sensors arranged on the right side and left side of the side and the right side and left side of the rear side 12 and the operation of the pedestrian protection device 14 can be controlled.

  The deformation sensor 11 is disposed in the vicinity of the outer surface of the vehicle 1 (for example, on the inner surface of the front bumper face 2 at the front portion of the vehicle 1 as shown in FIG. 1). For example, as shown in FIGS. , A plurality of piezoelectric elements 24,..., And a pair of insulating protective films 25, 25. The flexible substrate 23 has a wiring pattern formed of the signal wiring 21 and the ground wiring 22 formed on the substrate body 23a. The flexible substrate 23 having a plurality of piezoelectric elements 24,..., 24 mounted thereon is covered with a pair of insulating protective films 25, 25 so as to be sandwiched from both sides in the thickness direction.

For example, as shown in FIG. 2, the substantially rectangular plate-like substrate body 23a is formed such that the longitudinal dimension thereof is an appropriate dimension along the substantially vehicle width direction of the front bumper face 2. On the surface, a plurality of independent signal wiring straight portions 21b ₁ ,..., 21b _n ,..., 21b _N (n = 1,..., N; extending along the longitudinal direction at one end in the short direction) n is an arbitrary natural number), and the signal wirings connecting part 21a _n, which is formed at one end of each signal line straight portion 21b _n at a plurality of locations appropriate in the longitudinal direction of the substrate main body 23a, the shorter A single ground wiring straight line portion 22b extending along the longitudinal direction at the other end of the direction, and a plurality of ground wiring connecting portions formed at a plurality of appropriate positions along the longitudinal direction of the ground wiring straight line portion 22b. 22a, ..., 22a It is formed as a pattern.

The piezoelectric element 24 is arranged so as to sandwich a piezoelectric film 31 having a substantially rectangular film shape made of a polymer piezoelectric material such as a vinylidene fluoride resin subjected to polarization treatment, and the piezoelectric film 31 from both sides in the thickness direction. A pair of signal electrodes 32 and a ground electrode 33 for detecting the electric charge generated at 31 as a voltage are provided. Each of the electrodes 32 and 33 is formed of, for example, a conductive thin plate, a metal paste, a vapor deposition metal, or the like.
For example, as shown in FIG. 3, the piezoelectric film 31 has a through hole 31 a penetrating in the thickness direction. One opening of the through hole 31 a faces the signal electrode 32, and the other The opening is set so as not to interfere with the ground electrode 33. The signal terminal 32 a connected to the signal electrode 32 is mounted in the through hole 31 a of the piezoelectric film 31, and the end of the signal terminal 32 a is set to be exposed on the other surface of the piezoelectric film 31. . Thus, on the other surface of the piezoelectric film 31, the ground electrode 33 and the signal terminal 32a are arranged apart from each other along the longitudinal direction, for example, and the piezoelectric element 24 is mounted on the flexible substrate 23. , the signal terminal 32a is in contact with the signal line connection portion 21a _n, the ground electrode 33 is adapted to abut against the ground wiring connection part 22a.

At the end of the flexible substrate 23, molded by the signal lines straight portions 21b _n of the other end connected to the resin and external grounding line connected to the ends of the external signal line and the ground line straight portion 22b has An external wiring 34 that is integrated by processing is formed, and the external wiring 34 is connected to an electronic control unit (ECU) 15.
For example, when an object collides with the front bumper face 2 and the front bumper face 2 is deformed, the piezoelectric film 31 of the deformation sensor 11 is deformed integrally with the front bumper face 2. Here, for the piezoelectric constant (predetermined value) of the piezoelectric film 31,
Piezoelectric constant = generated charge Q / stress σ,
The voltage V generated between the electrodes 32 and 33 = the generated charge Q / the electrostatic capacity C,
The deformation sensor 11 is configured such that the stress σ is generated according to the strain ε of the piezoelectric film 31 and the strain ε of the piezoelectric film 31 is generated according to the curvature ρ of the piezoelectric film 31.
Accordingly, the curvature ρ of the deformed piezoelectric film 31 can be detected from the voltage V generated between the electrodes 32 and 33.
Further, for example, as shown in FIG. 4, the deformation sensor 11 constitutes a differentiation circuit 35 that outputs a time differential value (dV / dt) of the voltage V generated between the electrodes 32 and 33, and an output of the differentiation circuit 35. The voltage V _OUT is input to the electronic control unit (ECU) 15. That is, since the output voltage V _OUT of the differentiating circuit 35 is constituted by the time differential value (dV / dt) of the voltage V generated between the electrodes 32 and 33, the time change of the curvature ρ from the output voltage _VOUT. dρ (n) / dt is detected.

For example, as shown in FIG. 4, the differentiating circuit 35 includes first to third resistors 35a to 35c, a first operational amplifier 35d for output impedance conversion, and a second operational amplifier 35e for output adjustment. Has been.
One terminal of the first resistor 35a (resistance value R) is connected to the equivalent circuit (piezoelectric element equivalent circuit) 36 of the piezoelectric element 24 and the inverting input terminal of the first operational amplifier 35d, and the other terminal is the first terminal. The operational amplifier 35d is connected to the non-inverting input terminal and grounded.
The output terminal of the first operational amplifier 35d is connected to the inverting input terminal of the second operational amplifier 35e through the second resistor 35b and to the inverting input terminal of the first operational amplifier 35d.
The non-inverting input terminal of the second operational amplifier 35e is grounded, the output terminal of the second operational amplifier 35e is connected to the inverting input terminal of the second operational amplifier 35e via the third resistor 35c, and the output of the differentiating circuit 35. Connected to the terminal.
The cut-off frequency fc as the differential characteristic of the differentiating circuit 35 is determined by, for example, the first resistor 35a (resistance value R) and the capacitor 36a (electrostatic capacitance C) of the piezoelectric element equivalent circuit 36.
fc = 1 / (2πRC), which is variable according to the resistance value R of the first resistor 35a. Accordingly, a resistance value appropriate for a vehicle collision event, for example, gain in a predetermined frequency region (for example, ten to several thousand Hz) (for example, gain shown in FIG. 5 = (output V _{f =} frequency _{f = f} ) / (output V _{f = ∞} at an infinitely high frequency)) is a resistance value (for example, the resistance value R3 shown in FIG. 5) that changes in proportion to the frequency f. The resistance value of the first resistor 35a Set as R.

  An electronic control unit (ECU) 15 disposed in a substantially central portion of the vehicle (for example, the inside of the center console of the vehicle 1 formed in a hollow cylinder), for example, as shown in FIG. An energy state quantity calculation unit 41 that calculates a state quantity relating to a temporal change in energy of bending distortion generated on the outer surface of the vehicle 1, for example, the front bumper face 2 when a collision occurs, and per unit size of an object that has collided with the vehicle 1 A hardness state quantity calculation unit 42 that calculates a state quantity related to the hardness of an object that has collided with the vehicle 1 as a state quantity related to the collision load, a hardness determination unit 43, a size determination unit 44, and an object determination unit 45, a device drive determination unit 46, a drive command output unit 47, and a time integrator 48.

  The energy state quantity calculation unit 41 includes, for example, a strain energy calculation unit 51, a strain energy time change calculation unit 52, a deflection angle calculation unit 53, a deflection calculation unit 54, a deflection total calculation unit 55, and an equivalent load calculation. A unit 56 and an equivalent relative speed calculation unit 57 are provided.

The strain energy calculation unit 51 converts, for example, the total kinetic energy immediately before the collision of the object colliding with the vehicle 1 into energy required for deformation of the front bumper face 2, that is, bending strain energy (hereinafter simply referred to as strain energy). The strain energy ED is calculated and output to the equivalent load calculation unit 56.
Here, the bending moments ΔM (n); (n = 1,..., N) of the piezoelectric elements 24,..., 24 are the longitudinal elastic modulus E, the sectional secondary moment I, the piezoelectric elements 24,. 24 by the width ds and the deformation angle dθ (n) for each piezoelectric element 24,.
ΔM (n) = E × I × (dθ (n) / ds).
Thereby, the strain energy ΔED (n) of each piezoelectric element 24,.
ΔED (n) = ΔM (n) × dθ (n)
= E * I * (d [theta] (n) / ds) * (d [theta] (n) / ds) * ds. further,
Since (dθ (n) / ds) = ρ (n),
ΔED (n) = E × I × ρ (n) ² × ds.
Thereby, the distortion energy ED of the front bumper face 2 is described as shown in the following formula (1).
Therefore, the strain energy calculation unit 51 includes the curvature ρ (n) of each piezoelectric element 24,..., 24 output from the time integrator 48, that is, the time change dρ (n) / dt output from the deformation sensor 11. Is inputted with a calculated value obtained by linear integration with respect to time.

  The strain energy time change calculation unit 52 is based on the curvature ρ (n) of each piezoelectric element 24,..., 24 output from the time integrator 48 and the time change dρ (n) / dt output from the deformation sensor 11. As shown in the following mathematical formula (2), the temporal change (dED / dt) of the strain energy ED is calculated and output to the equivalent relative speed calculation unit 57 and the hardness state quantity calculation unit 42.

  For example, as shown in FIG. 7 and FIG. 8, the deflection angle calculation unit 53 includes the inter-element distance dL between the adjacent piezoelectric elements 24, 24 and the piezoelectric elements 24,. Based on the curvature ρ (n), the deflection angle θ (n) of each piezoelectric element 24,..., 24 is calculated and output to the deflection calculation unit 54 as shown in the following formula (3).

  The deflection calculation unit 54 is based on the deflection angle θ (n) of each piezoelectric element 24,..., 24 output from the deflection angle calculation unit 53 and the inter-element distance dL between the adjacent piezoelectric elements 24, 24. As shown in the following mathematical formula (4), the deflection w (n) of each piezoelectric element 24,..., 24 is calculated and output to the deflection total calculation unit 55 and the size determination unit 44.

Based on the deflection w (n) of each piezoelectric element 24,..., 24 output from the deflection calculation section 54, the deflection total calculation section 55 is represented by each piezoelectric element 24,. calculating a deflection sum _{w sum,} and outputs the equivalent load calculation unit 56.

Based on the total deflection w _sum output from the total deflection calculation unit 55 and the strain energy ED output from the strain energy calculation unit 51, the equivalent load calculation unit 56 generates a collision as shown in the following formula (6). The equivalent load f is calculated as a state quantity related to the load (collision load) that is sometimes applied to the front bumper face 2, and is output to the equivalent relative speed calculation unit 57.

  The equivalent relative speed calculation unit 57 is based on the equivalent load f output from the equivalent load calculation unit 56 and the time change (dED / dt) of the strain energy ED output from the strain energy time change calculation unit 52. As shown in (7), the equivalent relative speed ν is calculated as a state quantity related to the relative speed between the vehicle 1 and the object at the time of the collision, and is output to the device drive determination unit 46.

  Further, the hardness state quantity calculation unit 42 includes, for example, a low-pass filter 61, a mid-pass filter 62, a high-pass filter 63, distortion energy time change calculation units 64, 65, and 66, and normalizations. As a state quantity related to the hardness P of the object that has collided with the vehicle 1, the distortion due to the predetermined frequency components of the curvature ρ (n) and the time change dρ (n) / dt is configured. Calculate the time change of energy.

  The filters 61, 62, 63 have respective curvatures ρ (n) of the piezoelectric elements 24,... 24 output from the time integrator 48 and time changes dρ (n) / dt output from the deformation sensor 11. A signal is input, and the frequency characteristic of the filter action with respect to the curvature ρ (n) and the time change dρ (n) / dt of each filter 61, 62, 63 is set to a frequency characteristic as shown in FIG. Yes. That is, in the low-pass filter 61, the gain of the frequency component equal to or higher than the predetermined first frequency fc1 is set so as to change in a decreasing tendency as the frequency increases, and in the middle-pass filter 62, the gain is lower than the predetermined first frequency fc1. The gain of the frequency component of the predetermined frequency fc2 (> fc1) or more changes to a decreasing tendency as the frequency increases. In the high-pass filter 63, the gain of the frequency component equal to or lower than the predetermined second frequency fc2 is set so as to change with a decrease in frequency.

Each distortion energy time change calculation unit 64, 65, 66 has each curvature ρ (n) _L , ρ (n) _M , ρ (n) _H of each predetermined frequency component output from each filter 61, 62, 63 and each Based on time change dρ (n) _L / dt, dρ (n) _M / dt, dρ (n) _H / dt, time change (dED _L / dt) of each strain energy as shown in the following formula (8) , (DED _M / dt), (dED _H / dt) are calculated and output to the normalization units 67, 68, 69.

As shown in the following formula (9), the normalization units 67, 68, and 69 convert each strain energy with time (dED _L / dt), (dED _M / dt), and (dED _H / dt) into strain energy. Values obtained by dividing by the time change (dED / dt) of the strain energy ED calculated by the time change calculation unit 52 are set as the respective determination values P _L , P _M , and P _H , and the hardness determination unit 43 receives the values. Output.

Hardness determination unit 43, the judgment value _P L which is output from the normalization unit 67, 68, _69, P M, to each _{P H,} for example, the decision value _{P L,} P M, _{P H} is given It is determined whether or not it is larger than the determination threshold value _Pth . If the determination result is “YES”, the flag value “1” is set, and if the determination result is “NO”, the flag value “0” is set. To do. For example, as shown in Table 1 below, according to the combination of the flag values of the respective determination values P _L , P _M , and P _H , the hardness P of a predetermined object (for example, the hardness of an object corresponding to resin, organisms, etc.) Is set to P1 or the hardness P2 of an object corresponding to, for example, a honeycomb structure or a sheet metal structure, or the hardness P3 of an object corresponding to, for example, concrete or steel, and is output to the object determination unit 45 .

Magnitude determination unit 44, the piezoelectric elements are output from the deflection calculating unit 54 24, ..., on the basis of the time-series data of 24 deflection w (n), first, for example, as shown in FIG. 10, a predetermined threshold value w _th The time series data of deflection w (n) having a larger value is extracted.
Then, the size determination unit 44, based on the time series data of the extracted deflection w (n), for example, a predetermined time t1 after the occurrence of the collision based on the size Sa of the object described as shown in the following formula (10). The size Sa of the object for each appropriate time in the time interval (t1 to (t1 + Δt)) from time (t1 + Δt) after elapse of the predetermined time width Δt is calculated. Then, for example, as shown in FIG. 11, from the time series data Sa (t1),..., Sa (t1 + Δt) of the object size Sa in the time interval (t1 to (t1 + Δt)), the time interval (t1 to (t1 + Δt) )) Is calculated, the section average value is set as the object size S, and is output to the object determination unit 45.

The object determination unit 45 determines the type and collision of the object that has collided with the vehicle 1 based on the hardness P of the object output from the hardness determination unit 43 and the size S of the object output from the size determination unit 44. The form is detected, and the detection result is output to the device drive determination unit 46.
For example, as shown in FIG. 12, the object determination unit 45 includes a PS map indicating the correlation between the object size S and the object hardness P (for example, the object hardness P is represented by the horizontal axis and the object size S is represented by the horizontal axis). On the vertical coordinate), a boundary value that divides a plurality of areas that specify the magnitude of the load of the object acting on the deformation sensor 11, for example, first to fourth areas α, β, γ, δ. Each threshold value TH ₁ , TH ₂ , TH ₃ (for example, TH ₁ ≦ TH ₂ ≦ TH ₃ ) is set.
Each of the threshold values TH ₁ , TH ₂ , TH ₃ is a threshold value related to the magnitude of the load of the object acting on the deformation sensor 11, and is the product (P × S) of the hardness P of the object and the size S of the object. It is a threshold for.

Further, the object determination unit 45 is a predetermined threshold for each of the threshold values for excluding objects on which the operation of the various occupant protection devices 12 and the pedestrian protection device 14 is not necessary on the PS map, that is, the hardness P of the object. a hardness threshold TH _P, setting the predetermined size threshold TH _S with respect to the object size S.
Further, the object determination unit 45 has a plurality of predetermined values with respect to the hardness P of the object, for example, a predetermined hardness P1 (e.g., equivalent to the hardness of resin, organisms, etc.), P2 (e.g., honeycomb structure, sheet metal, etc.) Set the P3 (corresponding to the hardness of concrete, steel, etc.) and P3 (corresponding to the hardness of the structure, etc.) and a plurality of predetermined values for the object size S, for example, a predetermined size S1 (for example, walking) S2 (e.g., equivalent to the size of a large dog, etc.), S3 (e.g., equivalent to the size of a large trash can, etc.) are set. On the PS map, for each region A1 to A5, B1 to B3, C1 specified by a combination of each predetermined value, that is, each predetermined hardness P1, P2, P3 and each predetermined size S1, S2, S3. The predetermined object type or the collision mode with the object is made to correspond.

  For example, an object type such as a large trash can corresponds to an area A1 based on a combination of a predetermined hardness P1 and a size S3, and an object type such as a large dog corresponds to an area A2 based on a combination of the predetermined hardness P1 and the size S2. Corresponds to the region A3 based on the combination of the predetermined hardness P1 and the size S1, and the object type such as a pedestrian corresponds to the region A3 based on the combination of the predetermined hardness P2 and the size S1. The object type such as a pole is set to correspond to the area A5 based on the combination of the predetermined hardness P3 and the size S1. Further, a collision mode such as a collision with a side surface of another vehicle corresponds to the area B1 based on the combination of the predetermined hardness P2 and the size S3, and the area B2 based on the combination of the predetermined hardness P2 and the size S2 corresponds to the area B1. A collision mode such as an offset collision with another vehicle corresponds, and a collision mode such as an oblique collision with another vehicle corresponds to the region B3 by a combination of the predetermined hardness P3 and the size S2, and a predetermined hardness. A region C1 based on the combination of P3 and size S3 is set so as to correspond to a collision mode such as a frontal collision with another vehicle.

Then, on the PS map corresponding to the equivalent relative speed ν output from the equivalent relative speed calculation unit 57, the object determination unit 45 first sets the hardness P of the object output from the hardness determination unit 43 to a predetermined hardness. It is larger than the threshold value TH _P, and determines the size S of the object to be outputted from the size judgment section 44 whether larger than a predetermined size threshold TH _S. When the determination result is “NO”, it is determined that the various occupant protection devices 12 and the pedestrian protection device 14 are in collision with an object that does not require operation, and this determination result is used as the drive command output unit 47. Output to.
On the other hand, when the determination result is “YES”, for example, as the operation determination of various occupant protection devices 12, the object hardness P and the size determination unit 44 output from the hardness determination unit 43 are output. It is determined whether or not the product (P × S) with the size S of the object to be detected is larger than the threshold values TH ₁ , TH ₂ , TH ₃ , and as the operation determination of various pedestrian protection devices 14, the hardness Whether or not a combination of the hardness P of the object output from the determination unit 43 and the size S of the object output from the size determination unit 44 exists in each of the areas A1 to A5, B1 to B3, and C1. judge.

For example, if the product of the size S of the hardness P and the object of the object (P × S) is first smaller than the threshold TH _1, i.e. the hardness of the object to be output from the hardness determination unit 43 on the PS map When the history line indicating the temporal change in the size S of the object output from P and the size determination unit 44 does not cross the first threshold value TH ₁ from the first region α to the second region β, The operation of the occupant protection device 12 and the pedestrian protection device 14 is not required, and it is determined that the collision is gentle to some extent.

For example, when the product (P × S) of the hardness P of the object and the size S of the object is not less than the first threshold TH ₁ and less than the second threshold TH ₂ , that is, on the PS map, the hardness determination unit 43. The history line indicating the temporal change in the hardness P of the object output from S and the size S of the object output from the size determination unit 44 moves the first threshold value TH ₁ from the first region α to the second region β. crossing, and, when the second threshold value TH ₂ from the second region β does not cross toward the third region γ is determined to be a relatively mild collision with e.g. pedestrians and guardrail end like.
Further, when the combination of the hardness P of the object and the size S of the object exists in each of the predetermined regions A1 to A5, that is, the hardness P and the size of the object output from the hardness determination unit 43 on the PS map. When the history line indicating the time change of the size S of the object output from the height determination unit 44 is included in each of the areas A1 to A5, the object type such as a large trash can and the object type such as a large dog in order. , An object type such as a pedestrian, an object type such as a guardrail end, and an object type such as a pole.

Further, for example, when the product (P × S) of the hardness P of the object and the size S of the object is not less than the second threshold TH ₂ and less than the third threshold TH ₃ , that is, on the PS map, the hardness determination unit 43. The history line indicating the temporal change in the hardness P of the object output from S and the size S of the object output from the size determination unit 44 moves the second threshold TH ₂ from the second region β to the third region γ. When crossing and the third threshold TH ₃ does not cross from the third region γ toward the fourth region δ, it is determined that the collision is a relatively moderate collision such as an offset collision or a side collision with another vehicle. Is done.
Further, when the combination of the hardness P of the object and the size S of the object is present in each of the predetermined regions B1 to B3, that is, the hardness P and the size of the object output from the hardness determination unit 43 on the PS map. When the history line indicating the time change of the size S of the object output from the height determination unit 44 is included in each of the areas B1 to B3, a collision mode such as a collision with a side surface of another vehicle sequentially, It is determined that a collision mode such as an offset collision with another vehicle or a collision mode such as an oblique collision with another vehicle.

For example, when the product (P × S) of the hardness P of the object and the size S of the object is equal to or greater than the third threshold TH ₃ , that is, the hardness of the object output from the hardness determination unit 43 on the PS map. When the history line indicating the temporal change in the size S of the object output from the depth P and the size determination unit 44 crosses the third threshold TH ₃ from the third region γ toward the fourth region δ, for example, It is determined that the collision is relatively severe, such as a frontal collision with the other vehicle.
Furthermore, when the combination of the hardness P of the object and the size S of the object exists in the predetermined region C1, that is, the hardness P and the size determination unit of the object output from the hardness determination unit 43 on the PS map. When the history line indicating the temporal change in the size S of the object output from 44 is included in the region C1, it is determined that the collision mode such as a frontal collision with another vehicle is performed.

Based on the equivalent relative speed ν output from the equivalent relative speed calculation unit 57, the device drive determination unit 46 determines whether or not the various occupant protection devices 12 and the pedestrian protection device 14 need to be operated, The required operation mode (for example, operation timing, etc.) is determined.
For example, as illustrated in FIG. 13, the device drive determination unit 46 indicates the correlation between the product (P × S) of the hardness P of the object and the size S of the object and the equivalent relative speed ν (PS) ν. On a map (for example, Cartesian coordinates with the product (P × S) as the horizontal axis and the equivalent relative velocity ν as the vertical axis), a plurality of areas that specify the severity of the collision, for example, fourth to sixth areas ε, ζ , Η are set as threshold values TH _a , TH _b (for example, TH _a ≦ TH _b ).
Each of the threshold values TH _a and TH _b is _a threshold value related to a first-order differential value (for example, an increase amount of the collision energy per unit time) with respect to the time of the collision energy which is a state quantity indicating the intensity of the collision, and the collision energy The first-order differential value with respect to the time is the state quantity related to the product (P × S) of the hardness P of the object and the size S of the object (P × S) and the equivalent relative velocity ν ((P × S) × ν). Become.
Further, the device drive determination unit 46, on the (PS) ν map, sets each threshold value, that is, a product (P), for eliminating a collision event that does not require operation of various occupant protection devices 12 and pedestrian protection devices 14. A predetermined load threshold TH _PS for (S) and a predetermined speed threshold TH _ν for the equivalent relative speed ν are set.

Then, on the (PS) ν map, the device drive determination unit 46 first determines that the product (P × S) of the object hardness P and the object size S output from the object determination unit 45 is a predetermined load. It is determined whether or not the equivalent relative speed ν that is greater than the threshold value TH _PS and that is output from the equivalent relative speed calculation unit 57 is greater than a predetermined speed threshold value TH _ν . When the determination result is “NO”, it is determined that the various occupant protection devices 12 and the pedestrian protection device 14 are unnecessary collision events, and the determination results are output to the drive command output unit 47. To do.
On the other hand, when the determination result is “YES”, for example, as the operation determination of various occupant protection devices 12 and pedestrian protection devices 14, the hardness P of the object and the size of the object output from the object determination unit 45 are determined. Whether the product (P × S) of the length S and the equivalent relative speed ν output from the equivalent relative speed calculation unit 57 ((P × S) × ν) is larger than the respective thresholds TH _a and TH _b Determine whether or not.

For example, if the product ((P × S) × ν) of the product (P × S) and the equivalent relative velocity ν is less than the fourth threshold TH _a , that is, output from the object determination unit 45 on the (PS) ν map. The history line indicating the time change of the product (P × S) and the equivalent relative speed ν output from the equivalent relative speed calculation unit 57 moves the fourth threshold TH _a from the fifth area ε to the sixth area ζ. When the vehicle does not cross the vehicle, it is determined that the operation of the various occupant protection devices 12 and the pedestrian protection device 14 is unnecessary and the collision is moderate to some extent, and the determination result is output to the drive command output unit 47.

Also, for example, when the product (P × S) and equivalent relative speed [nu and the product ((P × S) × ν ) is the fourth less than the threshold value TH _a more and fifth threshold value TH _b, i.e. (PS) [nu map The history line indicating the time change of the product (P × S) output from the object determination unit 45 and the equivalent relative speed ν output from the equivalent relative speed calculation unit 57 above the fourth threshold TH _a in the fifth region ε. To the sixth region ζ and the fifth threshold TH _b does not cross from the sixth region ζ to the seventh region η, for example, various pedestrian protection devices 14 may be required to operate. Is determined to be a collision. Here, in the determination result of the object determination unit 45, the combination of the hardness P of the object and the size S of the object on the PS map is present in the predetermined area A2 or area A3, and the object type is a large dog. If it is determined that the object type is an object type such as a pedestrian or the like, it is determined that the collision requires operation of various pedestrian protection devices 14, and the determination result is a drive command output unit 47. Is output.

For example, when the product ((P × S) × ν) of the product (P × S) and the equivalent relative velocity ν is equal to or greater than the fifth threshold TH _b , that is, from the object determination unit 45 on the (PS) ν map. The history line indicating the temporal change in the output product (P × S) and the equivalent relative speed ν output from the equivalent relative speed calculation unit 57 has the fifth threshold TH _b from the sixth region ζ to the seventh region η. In the case of crossing, for example, it is determined that there is a collision that may require operation of various occupant protection devices 12. Here, in the determination result in the object determination unit 45, the combination of the hardness P of the object and the size S of the object exists in each of the predetermined areas A1 to C1, and the object type or the collision form is the predetermined object. When it is determined that the type or the predetermined collision mode is selected, it is determined that the collision requires the operation of various occupant protection devices 12, and the determination result is output to the drive command output unit 47.

  Based on the determination result output from the device drive determination unit 46, the drive command output unit 47 outputs control signals for instructing operating states of various occupant protection devices 12 or pedestrian protection devices 14 to the occupant protection device 12 or pedestrian protection. Output to the device 14.

The vehicle collision determination device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle collision determination device 10, in particular, the threshold values TH ₁ , TH ₂ , TH ₃ on the PS map. , TH _P , TH _S to determine the object type or the collision form, and further, various occupant protection devices 12 and pedestrian protection are determined by the respective threshold values TH _a , TH _b , TH _PS , TH _ν on the (PS) ν map. Processing for determining whether or not the operation of the device 14 is a necessary collision will be described with reference to the accompanying drawings.
First, in step S01 shown in FIG. 14, based on the output of the deformation sensor 11, the equivalent relative speed ν, the hardness P of the object, and the size S of the object are calculated.
Then, in step S02, the hardness P of the object determines whether a predetermined hardness threshold TH _P less than or object size S is less than a predetermined magnitude threshold TH _S.
If this determination is “NO”, the flow proceeds to step S 04 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S03.
In step S03, it is determined that the operation of various occupant protection devices 12 and pedestrian protection devices 14 is a collision with an object that does not need to be performed, and the series of processing ends.

In Step S04, the product of the size S of the hardness P and the object of the object (P × S) determines whether the first threshold value TH ₁ or more.
If this determination is “YES”, the flow proceeds to step S 06 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 05.
Then, in step S05, a history line indicating temporal changes in the hardness P and the size S of the object on the PS map is included in the first region α, and various occupant protection devices 12 and pedestrian protection devices are included. It is determined that the operation of 14 is a moderate collision that is unnecessary, and the series of processes is terminated.

In Step S06, the product of the size S of the hardness P and the object of the object (P × S) determines whether the second threshold value TH ₂ or more.
If this determination is “YES”, the flow proceeds to step S 08 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 07.
In step S07, a history line indicating temporal changes in the hardness P and the size S of the object on the PS map reaches the second region β, and is relative to, for example, a pedestrian or a guardrail end. It is determined that the collision is mild. Then, it is determined which of the predetermined areas A1 to A5 in the second area β the combination of the object hardness P and the object size S corresponds to, and the process proceeds to step S11.

In Step S08, the product of the size S of the hardness P and the object of the object (P × S) determines whether a third threshold value TH ₃ or more.
If this determination is “YES”, the flow proceeds to step S 10 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 09.
In step S09, the history line indicating the time change of the hardness P and the size S of the object on the PS map reaches the third region γ, for example, an offset collision or a side collision with another vehicle. It is determined that the collision is relatively moderate. Then, it is determined which of the predetermined regions B1 to B3 in the third region γ the combination of the object hardness P and the object size S corresponds to, and the process proceeds to step S11.
In step S10, the history line indicating the time change of the hardness P of the object and the size S of the object reaches the fourth region δ, and is relatively severe, for example, a frontal collision with another vehicle. Judged as a collision. Then, it is determined whether or not the combination of the hardness P of the object and the size S of the object corresponds to the predetermined area C1 in the fourth area δ, and the process proceeds to step S11.

In step S11, whether the equivalent relative speed ν is less than a predetermined speed threshold TH _ν or the product (P × S) of the object hardness P and the object size S is less than a predetermined load threshold TH _PS . Determine whether or not.
If this determination is “YES”, the flow proceeds to step S 03 described above.
On the other hand, if this determination is “NO”, the flow proceeds to step S 12.

In step S12, the product (P × S) of the hardness P of the object and the size S of the object (P × S) and the equivalent relative velocity ν ((P × S) × ν) is equal to or greater than the fourth threshold TH _a. It is determined whether or not.
If this determination is “YES”, the flow proceeds to step S 14 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 13.
In step S13, the history line indicating the time change of the product (P × S) and the equivalent relative speed ν on the (PS) ν map is included in the fifth region ε, and various occupant protection devices 12 and walking The operation of the person protection device 14 is unnecessary and it is determined that the collision is moderate to some extent, and the series of processes is terminated.

In step S14, the product (P × S) of the hardness P of the object and the size S of the object (P × S) and the equivalent relative velocity ν ((P × S) × ν) is equal to or greater than the fifth threshold TH _b. It is determined whether or not.
When this determination result is “NO”, that is, when the history line indicating the time change of the product (P × S) and the equivalent relative speed ν reaches the sixth region ζ on the (PS) ν map, it will be described later. The process proceeds to step S16.
On the other hand, when the determination result is “YES”, that is, when the history line indicating the time change of the product (P × S) and the equivalent relative speed ν has reached the seventh region η on the (PS) ν map. The process proceeds to step S15.
In step S15, it is determined that the collision requires operation of various occupant protection devices 12, and a series of processing ends.

In step S16, the combination of the hardness P and the size S of the object on the PS map exists in the predetermined area A2 or area A3, and the object type is a living object such as a pedestrian or a large dog. It is determined whether or not there is.
If this determination is “NO”, the flow proceeds to step S 03 described above.
On the other hand, if the determination is “YES”, the flow proceeds to step S17.
And in step S17, it determines with it being a collision which requires the action | operation of various pedestrian protection apparatuses 14, and complete | finishes a series of processes.

As described above, according to the vehicle collision determination device 10 according to the present embodiment, the detection signal output from the deformation sensor 11, that is, the curvature ρ (n that directly reflects the state of the collision that has actually occurred. ); (N = 1,..., N) based on the detection signal of the time change dρ (n) / dt, the equivalent relative speed ν, the size S of the object, and the hardness P of the object are detected. The reliability at the time of discriminating the type of collision object and the collision form based on the detection result can be improved.
Further, on the PSν map indicating the correlation between the equivalent relative speed ν, the object size S, and the object hardness P, first, the thresholds TH ₁ , TH ₂ , Whether TH ₃ , the hardness threshold value TH _{P, the} magnitude threshold value TH _S, and the speed threshold value TH _ν are collisions that require the operation of various occupant protection devices 12, and further, the required operation mode (For example, an operation timing etc.) can be determined appropriately. And on the PS map according to the equivalent relative speed ν, various pedestrian protection devices 14 need to be operated by the areas A1 to A5, B1 to B3, and C1 that specify the object type or the collision mode with the object. It is possible to appropriately determine whether or not it is a collision. In particular, a waste bin having a strain energy ED for an appropriate equivalent relative velocity ν, and a type of an object having a time change (dED / dt) of the strain energy ED equivalent to a value, for example, a value equivalent to that for a pedestrian. It is possible to easily and accurately discriminate the types of objects such as the end of a large dog, guardrail, or pole.

  In the above-described embodiment, the detection signal of the time change dρ (n) / dt of the curvature ρ (n); (n = 1,..., N) output from the deformation sensor 11 is used as an electronic control unit (ECU). However, the present invention is not limited to this. For example, a sensor that outputs a detection signal of the curvature ρ (n) instead of the deformation sensor 11, such as a strain gauge, is provided, and the detection signal of the curvature ρ (n) is provided. You may input into the electronic control unit (ECU) 15. In this case, the electronic control unit (ECU) 15 includes a time differentiator instead of the time integrator 48, and a calculation obtained by first-order differentiation of the curvature ρ (n) output from the strain gauge with respect to time by the time differentiator. The value is input to the hardness state quantity calculator 42 and the strain energy time change calculator 52.

In the above-described embodiment, the hardness P of the object as the state quantity related to the collision load per unit size of the object with respect to the collision load that acts on the front bumper face 2 when a collision occurs is expressed by the curvature ρ (n ) And the time change dρ (n) / dt based on the time change of the strain energy for each predetermined frequency component, but is not limited to this, and the state quantity related to the collision load per unit size of the object is The external force φ (n) acting on each of the piezoelectric elements 24,..., 24 is expressed by, for example, the curvature ρ ( The second order differential value d ² ρ (n) / dx ² of n) may be calculated.

  In this case, for example, as shown in the following formula (12), the sum of absolute values of the external force φ (n) acting for each piezoelectric element 24,..., 24, or as shown in the following formula (13), for example: The maximum absolute value of the external force φ (n) acting for each piezoelectric element 24,..., 24 is set as the hardness P of the object.

In the above-described embodiment, the threshold values TH ₁ , TH ₂ , TH ₃ , TH _P , and TH _S on the PS map are values that do not depend on the equivalent relative speed ν. Each threshold value TH ₁ , TH ₂ , TH ₃ , TH _P , TH _S may be a value that changes according to the equivalent relative speed ν. In this case, the object determination unit 45 is output from the equivalent relative speed ν output from the equivalent relative speed calculation unit 57, the hardness P of the object output from the hardness determination unit 43, and the size determination unit 44. Based on the size S of the object, the type and collision type of the object that collided with the vehicle 1 are detected, and the detection result is output to the drive command output unit 47.

  In the above-described embodiment, the deformation sensor 11 is disposed on the inner surface of the front bumper face 2 to detect contact and collision between the front portion of the vehicle 1 and an object. Arranged on the inner surface of the rear bumper face to detect contact and collision between the rear portion of the vehicle 1 and the object, or disposed on the inner surface of the door skin to detect contact and collision between the side portion of the vehicle 1 and the object. May be.

In the above-described embodiment, the device drive determination unit 46 determines that the history line indicating the time change of the product (P × S) and the equivalent relative speed ν has reached the seventh region η on the (PS) ν map. However, the present invention is not limited to this, and in addition to the detection signal output from the deformation sensor 11, for example, the modification shown in FIG. As described above, based on the detection signal output from the acceleration sensor 71 provided in the electronic control unit 15, it may be determined whether the collision requires the operation of various occupant protection devices 12. Further, it may be determined whether or not the collision requires operation of various occupant protection devices 12 based on detection signals output from an acceleration sensor (not shown) constituting the satellite sensor.
For example, in the modification shown in FIG. 15, the electronic control unit 15 shown in FIG. 6 further includes an acceleration sensor 71, a ΔV _UNIT calculation unit 72, and a ΔV _UNIT determination unit 73, and the ΔV _UNIT calculation unit 72 is electronically controlled. For the acceleration signal G _UNIT output from the acceleration sensor 71 provided in the unit 15, a high frequency component, which is a noise component, is removed from the acceleration signal G _UNIT by, for example, a low-pass filter. As described above, the acceleration signal G _UNIT is linearly integrated with respect to time for each time interval {(tp−Δt) to tp} of the predetermined time width Δt with respect to the current time tp to calculate the speed change ΔV _UNIT , and the ΔV _UNIT determination unit 73. Output to.

Then, [Delta] V _UNIT determination unit 73, for example, sets a predetermined speed threshold _{TH UNIT} for the speed change [Delta] V _UNIT for determining the operation permission of the occupant protection system 12, [Delta] V _UNIT velocity change input from the calculating unit 72 [Delta] V _UNIT Is greater than or equal to a predetermined speed threshold value TH _UNIT , and the determination result is output to the drive command output unit 47.
Then, as a result of determination by the device drive determination unit 46, the drive command output unit 47 indicates that the history line indicating the time change of the product (P × S) and the equivalent relative speed ν is within the seventh region η on the (PS) ν map. Is determined to be a collision that requires the operation of various occupant protection devices 12, and as a result of determination by the ΔV _UNIT determination unit 73, the speed change ΔV _UNIT becomes equal to or greater than a predetermined speed threshold TH _UNIT. Thus, when it is determined that the collision requires the operation of the various occupant protection devices 12, a control signal that instructs the operation of the various occupant protection devices 12 is output.

It is a block diagram which shows typically the front part of the vehicle carrying the vehicle collision determination apparatus which concerns on embodiment of this invention. It is a principal part disassembled perspective view of the load sensor which concerns on embodiment of this invention. It is principal part sectional drawing of the load sensor shown in FIG. It is a figure which shows an example of the differentiation circuit with which a deformation | transformation sensor is equipped. FIG. 5 is a graph showing an example of a relationship between a frequency f corresponding to a resistance value R of a first resistor of the differentiating circuit shown in FIG. 4 and a gain V _{f = f} / V _{f = ∞} . It is a lineblock diagram of a collision judging device for vehicles concerning an embodiment of the present invention. It is a figure which shows an example of the positional relationship of the some piezoelectric element at the time of deform | transforming so that a front bumper face may become depressed toward the inside of a vehicle at the time of a collision. It is a figure which shows an example of the positional relationship of the adjacent piezoelectric element at the time of deform | transforming so that a front bumper face may become depressed toward the inside of a vehicle at the time of a collision. It is a figure which shows an example of the frequency characteristic of each filter effect | action of a low-pass filter, a mid-pass filter, and a high-pass filter. It is a figure which shows an example of the time series data of the deflection | deviation w (n) of each piezoelectric element, and the time series data of the deflection | deviation w (n) of a larger value than predetermined threshold value _th . It is a figure which shows an example of the average value of the time series data of the magnitude | size Sa of the object in the predetermined time width | variety (DELTA) t for every appropriate time t. Each threshold is set on the PS map _{TH 1, TH 2, TH 3} , TH P, is a diagram illustrating an example of TH _S. Each threshold _TH a set on the (PS) [nu _map, TH _b, TH _ν, is a diagram illustrating an example of _{TH PS.} It is a flowchart which shows operation | movement of the vehicle collision determination apparatus which concerns on embodiment of this invention. It is a block diagram of the collision determination apparatus for vehicles which concerns on the modification of embodiment of this invention.

Explanation of symbols

2 Front bumper face 10 Vehicle collision determination device 11 Deformation sensor (detection means)
14 Pedestrian protection device (protection device)
41 Energy state quantity calculation unit (collision state quantity detection means)
42 Hardness state quantity calculation unit (collision state quantity detection means)
43 Hardness determination part (collision state quantity detection means)
44 Size determination unit (collision state amount detection means)
45 Object determination unit (collision state determination means, object detection means)
46 Device drive determination unit (collision state determination means)
47 Drive command output unit (drive control means)

Claims (3)

Detecting means for detecting a curvature of the member related to deformation of the member constituting the outer surface of the vehicle and a state quantity relating to at least one of the time variation of the curvature;
Based on the state quantity detected by the detection means when an object contacts or collides with the vehicle, a speed state quantity related to the relative speed between the vehicle and the object and a size state quantity related to the size of the object And a collision state quantity detecting means for detecting a load state quantity relating to a load per unit size of the object that has acted between the vehicle and the object,
A vehicle collision determination device comprising: a collision state determination unit that determines a collision state according to the speed state amount, the magnitude state amount, and the load state amount detected by the collision state amount detection unit. . The object detection means for detecting the type of the object according to the speed state quantity, the magnitude state quantity, and the load state quantity detected by the collision state quantity detection means. Vehicle collision determination device. The vehicle collision determination device according to claim 2, further comprising a drive control unit that controls driving of a protection device that protects the object according to a type of the object detected by the object detection unit.

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