JP2011146049A - Person detection apparatus, person detection program, activation controller, and crash absorption apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology for precisely discriminating whether a target object is a person. <P>SOLUTION: A crash absorption apparatus operates a person probability presenting a probability that the target object detected based on an image acquired from an image sensor is a person in an activation determination processing according to a degree of matching between a parameter associated with the external appearance of the target object and a parameter for comparison associated with a person (S210: S310 to S330), and determines that the target object is a person when the person probability exceeds a preset person threshold value (S230). The person threshold value is corrected using a correction value corresponding to a presence probability of a person in accordance with a detection environment when the target object is detected (S220). The correction is made such that the target object is determined to be a person more as the presence probability of the person becomes higher. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a person detection device and a person detection program for detecting that a detected object is a person, and an operation control device and a collision mitigation device having these functions.

  Conventionally, as the above-described collision mitigation device, when a vehicle collides with a person, the vehicle hood is lifted to form a gap between the bonnet and the bonnet contents, or the airbag is opened outside the vehicle. Is known to alleviate the impact (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2003-226211

  Here, the operation of lifting the hood of the vehicle or opening the airbag outside the vehicle is necessary only when the vehicle collides with a person. No action is required when colliding with other devices. In particular, since the airbag cannot be used again once it is opened, it is required that the airbag is not opened when the vehicle collides with a person other than a person.

  That is, it is only necessary to accurately identify whether the object with which the vehicle collides is a person and to determine whether or not to operate the airbag or the like according to the identification result. Therefore, an object of the present invention is to provide a technique that can accurately identify whether or not an object is a person.

  The person detection apparatus according to claim 1, wherein the person probability calculation unit is configured to achieve the above object according to a degree of coincidence between the parameter detection result acquired from the parameter detection unit and the comparison parameter related to the person. The person probability representing the probability that the object is a person is calculated. The person determination means determines that the target is a person when the person probability is equal to or higher than a preset person threshold.

  In the present invention, the process for detecting an object may be performed as a process for the parameter detection means to detect a parameter, or before the process for the parameter detection means or other means to detect a parameter. May be. Further, in the present invention, the “parameter relating to the appearance” corresponds to a value that can be derived from the appearance of the object, such as the size (width, height), shape, size, and shape change of the object.

  Further, in the present invention, “as the existence probability becomes higher (...) (correct) the person probability or the person threshold value is corrected stepwise (at least in two steps) or continuously according to the existence probability. Or it means changing the person threshold. By the way, the operation timing of the environment acquisition unit and the correction unit may be set before the operation of the person determination unit when the person determination unit operates only once, and any timing when the person determination unit operates repeatedly. It is only necessary to set the timing (may be repeated).

  Further, in the human detection device of the present invention, the human probability calculation means includes an image processing means for detecting a shape of the target object by performing image processing on an image picked up by the image pickup means for picking up a target area where the target object exists, and a target A transmission wave is output toward the region, and a detection result by distance detection means for detecting a distance to the target object by detecting a reflected wave reflected by the target object is obtained. A person probability is calculated based on the detection result. In particular, the size of the object in the captured image is specified based on the detection result by the distance detection means, and the height of the object is determined in advance as the width of the object deviates from a preset width reference value. The person probability is calculated by gradually setting the person probability lower as it deviates from the set height reference value.

  According to such a person detection device, since the distance to the target can be detected, the size of the person in the captured image can be estimated based on this distance. Therefore, the detection accuracy of a person can be improved.

  It should be noted that the person probability calculation means may use at least one of a technique for processing an image captured by the imaging means and a shape recognition function by radar or the like.

  By the way, in the person detection device according to claim 1, as described in claim 2, the person probability calculation means excludes an object having a size far from the person in the captured image as a person. May be.

  According to a third aspect of the present invention, the person probability calculating means may use a value having a range defined by an upper limit value and a lower limit value set in advance as the height reference value. In particular, as described in claim 4, the human probability calculation means uses 0.5 m as the width reference value, uses 1.8 m as the upper limit value of the height reference value, and 1.0 m as the lower limit value. It may be.

  A human detection program according to claim 5 is a program for executing functions as respective means constituting the human detection device according to any one of claims 1 to 4 on a computer. It is characterized by that.

  According to such a person detection program, at least the same effect as that described in claim 1 can be enjoyed.

  Next, in the operation control device according to claim 6, wherein the person detection unit detects that an object with which the vehicle may collide is a person, and the operation control unit is configured to achieve the above object. Permits the operation of the mitigation means when it is detected that the object is a person, and prohibits the operation of the mitigation means when it is not detected that the object is a person. And a person detection means is comprised as a person detection apparatus of any one of Claims 1-4.

  According to such an operation control device, since the person detection device according to any one of claims 1 to 4 is provided, at least the same effect as the effect according to claim 1 is enjoyed. Can do. Further, in the operation control device of the present invention, it is possible to perform different processing of whether or not to actuate the mitigation means according to the output result of whether or not the object is a person.

  In the present invention, when a plurality of mitigating means are provided, an operation for permitting or prohibiting the operation of at least one mitigating means may be performed.

  Furthermore, the operation control device according to claim 7, wherein the collision calculation means calculates a collision time, which is an expected time until the vehicle collides with an object, and the operation setting means. Determines whether or not the object is a person, and sets whether or not to permit the operation of the mitigation means for reducing the impact when the vehicle and the person collide, according to the determination result. Then, the mitigation control unit activates the mitigation unit when the operation of the mitigation unit is permitted by the operation setting unit and the collision time is less than the limit time that can avoid the collision. However, the operation setting means is configured as an operation control device according to claim 6.

  Therefore, according to such a collision alleviating device, since the operation control device according to the sixth aspect is provided, the same effect as that according to the sixth aspect can be enjoyed. Further, the mitigation means can be activated only when a collision with a person is unavoidable.

It is a block diagram which shows schematic structure of PCS1 to which this invention was applied. It is a flowchart which shows a collision mitigation process It is the flowchart (a) which shows the operation | movement setting process in a collision mitigation process, and the flowchart (b) which shows the person probability calculation process in an operation | movement setting process. It is the flowchart (a) which shows the threshold value calculation process among operation | movement setting processes, and the table | surface (b) which shows the number of accidents according to person versus vehicle day and night. It is a graph which shows the relationship between the width | variety and height of a target object, and the coefficient utilized when calculating a person probability.

  Embodiments according to the present invention will be described below with reference to the drawings.

[Configuration of this embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a pre-crash safety system (hereinafter referred to as PCS, collision mitigation device) 1 to which the present invention is applied.

  The PCS 1 is a system that is mounted on a vehicle such as a passenger car, for example, detects that the vehicle (hereinafter also referred to as “own vehicle”) collides, and reduces the damage when the own vehicle collides. In particular, the PCS 1 of the present embodiment also has a function of reducing the impact on a person when a person such as a pedestrian or a bicycle occupant directly collides with the vehicle body of the own vehicle.

  Specifically, as shown in FIG. 1, the PCS 1 includes a collision mitigation controller 10, various sensors 30, a navigation device 35 (road type detection means, environment detection means), and a controlled object 40 (mitigation means). It has.

  As the various sensors 30, for example, a radar sensor 31 (position detecting means, distance detecting means, parameter detecting means) that detects an object such as a pedestrian, an obstacle on the road, or another vehicle together with its position (relative position with respect to the host vehicle). ), A yaw rate sensor 32 (environment detection means) for detecting the turning angular velocity of the vehicle, a wheel speed sensor 33 (speed detection means) for detecting the rotational speed of the wheels, and an image sensor 34 (configured as a camera for imaging the front of the vehicle) Position detecting means, imaging means, parameter detecting means) and the like. The detection results by these various sensors 30 are acquired by the collision mitigation controller 10.

  The radar sensor 31 is configured as a well-known laser radar, for example, and detects an object located in the traveling direction of the vehicle at a predetermined period (for example, 100 ms). At this time, the laser sensor 31 detects the shape of the object together with the size (width and height).

  The navigation device 35 has a known function of detecting the current location of the host vehicle, the traveling environment of the host vehicle, and the like, and displaying a map image corresponding to these detection results on its own display unit (not shown). When the navigation device 35 receives a request from another device such as the collision mitigation controller 10, the navigation device 35 transmits data corresponding to the request to the requesting device. In particular, in this embodiment, when a travel environment request is received from the collision mitigation controller 10, information on the travel environment is transmitted to the collision mitigation controller 10.

  The collision mitigation controller 10 is configured as a known microcomputer including a CPU 11, a ROM 12, a RAM 13, and the like. The collision mitigation controller 10 executes various processes such as a collision mitigation process, which will be described later, by executing a program stored in the ROM 12 based on the detection results by the various sensors 30.

  The collision mitigation controller 10 performs such processing, and activates the controlled object 40 according to the processing results of these processing. As a result, damage caused when the vehicle collides can be reduced.

  The controlled object 40 includes, for example, an actuator that drives a brake, steering, seat belt, active hood, external airbag, and the like. However, the active hood refers to a device that lifts the hood in order to form a gap between the hood of the vehicle and the contents of the hood, for example.

  Further, the external airbag refers to a device that inflates the airbag toward the outside of the vehicle in order to absorb an impact when a person collides with the vehicle. Hereinafter, in the present embodiment, a case will be described in which the controlled object 40 is a device that absorbs an impact when a person collides with a vehicle, such as an active hood or an airbag.

[Process of this embodiment]
Here, a collision mitigation process that is a process when the controlled object 40 is operated will be described with reference to FIGS. 2, 3 (a), 3 (b) and 4 (a).

  FIG. 2 is a flowchart showing a collision mitigation process executed by the CPU 11 of the collision mitigation controller 10 (person detection device, operation control device), and FIG. 3A is a flowchart showing an operation setting process in the collision mitigation process. . FIG. 3B is a flowchart showing the person probability calculation process in the action setting process, and FIG. 4A is a flowchart showing the threshold value calculation process in the action setting process.

  The collision mitigation process is a process that is started, for example, when a vehicle such as an ignition switch is turned on, and thereafter started every predetermined period (for example, about 50 ms). Specifically, as shown in FIG. 2, in the collision mitigation process, the object selection process (S110: image processing means), the action setting process (S120: action setting means), the action determination process (S130: collision calculation means, The relaxation control unit) and the operation control process (S140: relaxation control unit) are performed in order.

  In the object selection process (S110), an object such as a pedestrian or an obstacle on the road located on the course of the host vehicle is detected. In this object selection process, a detection result obtained by the radar sensor 31 or a detection result obtained by the image sensor 34 is acquired, an object is specified based on the detection result, and a path of the object is estimated. The process of calculating the relative speed with the is executed. And based on these processes, the target object which may collide with the own vehicle is selected.

  In the operation setting process (S120), it is determined whether or not the object detected by the various sensors 30 is a person. If it is determined that the object is a person, the operation permission of the actuator is recorded in the RAM 13. If it is determined that the object is not a person, the actuator 13 is recorded in the RAM 13 as being not permitted. The operation setting process will be described in detail later.

  In the operation determination process (S130), it is determined whether or not it is a timing to operate the controlled object 40 (in the case where there are a plurality of controlled objects 40, respectively). Is recorded in the RAM 13. More specifically, based on the course of the target estimated by the target selection process, the relative speed with the target, etc., the collision time, which is the expected time until the host vehicle collides with the target, is calculated. When the collision time is less than the time limit for avoiding the collision (that is, when the collision with the object cannot be avoided), it is determined that it is time to activate the controlled object 40.

  Subsequently, in the operation control process (S140), based on the generated operation command, an operation command corresponding to the controlled object 40 is sent to the controlled object 40 (if there are a plurality of controlled objects 40, each of the controlled commands 40). To the controlled object 40). However, the operation command is transmitted to the controlled object 40 only when the actuator operation permission is recorded in the RAM 13 in the process of S120, and when the actuator operation permission is not recorded in the RAM 13. Does not transmit an operation command to the controlled object 40.

  Next, details of the operation setting process will be described. In the operation setting process, the processes of S210 to S230 correspond to the person detecting means in the present invention.

  In the operation setting process, as shown in FIG. 3A, first, a person probability calculation process is performed (S210). In this person probability calculation process, as shown in FIG. 3B, first, an image captured by the image sensor 34 is acquired (S310), the object (shape) in the acquired captured image, and the ROM 12 or the like in advance. The person template, which is pattern matching data stored in the memory, is compared (S320).

  Then, the degree of coincidence between the object in the captured image and the person template is calculated (S330). At this time, by using the detection result (that is, the distance to the target object) detected by the radar sensor 31 acquired in the process of S110, the size of the target object in the captured image is specified, and the person is An object having a large size is excluded as a person.

  The degree of coincidence calculated in this process is set to a larger value as the probability of being a person increases, and this value is set to a value in the range of 0 to 1, for example. When such a process of S330 ends, the person probability calculation process ends.

  When such person probability calculation processing is completed, the process returns to FIG. 3A, and threshold calculation processing is performed (S220). The threshold value calculation process is a process for calculating a threshold value when determining that the object is a person. In the threshold value calculation process, the processes of S430 to S480 correspond to the correction means in the present invention. Specifically, as shown in FIG. 4A, first, the travel environment of the vehicle is acquired (S410: environment acquisition means).

  Here, the traveling environment corresponds to information such as the time zone in which the vehicle is traveling, day of the week, date, road type, road width, day / night distinction, weather, road condition, road alignment, and the like. These pieces of information are acquired from the navigation device 35. Note that the threshold value calculated in this process may be set based on the information acquired as the travel environment, but here, in order to simplify the description, the road type information (automobile road) is used as the travel environment. Information on whether or not) and day / night distinction information (information on whether it is currently daytime or night) and a threshold value is set according to these information will be described.

  Note that information (association data) of correction values (numerical values multiplied by a threshold value) corresponding to road type information and day / night distinction information is stored in the ROM 12 in advance.

  When the processing of S410 ends, the threshold value is set to 0.5 as an initial value and recorded in the RAM 13 (S420). Then, it is determined whether or not the road type is an automobile-only road (S430).

  If it is an automobile-only road (S430: YES), the threshold value recorded in the RAM 13 is multiplied by 1.5 and overwritten and recorded in the RAM 13 (S440). If the road is not an automobile-only road (S430: NO), the threshold value recorded in the RAM 13 is multiplied by 0.8 and overwritten in the RAM 13 (S450).

  Subsequently, the distinction between day and night is determined (S460). If it is currently daytime (S460: YES), the threshold value recorded in the RAM 13 is multiplied by 0.8, overwritten in the RAM 13 (S470), and the threshold value calculation process is terminated. If it is night (S460: NO), the threshold value recorded in the RAM 13 is multiplied by 1.2 and overwritten in the RAM 13 (S480), and the threshold value calculation process is terminated.

  When such a threshold calculation process is completed, the process returns to FIG. 3A, and the person probability calculated in the person probability calculation process (S210: person probability calculation means) and the threshold calculated in the threshold calculation process (S220) are obtained. Compare (S230: person determination means). If the person probability is equal to or higher than the threshold (S230: YES), the operation permission of the actuator (controlled object 40) is recorded in the RAM 13 (S240: operation control means), and the operation setting process is terminated.

  If the person probability is less than the threshold value (S230: NO), the actuator operation disapproval is recorded in the RAM 13 (S250: operation control means), and the operation setting process is terminated.

  Here, as shown in FIG. 4B, the threshold value set in the threshold value calculation process is set (corrected) on the basis of the number of accidents according to person-to-vehicle day and night. That is, when the distinction between daytime and nighttime is daytime, the threshold value is set so that it is easy to determine that the object is a person, assuming that a person such as a pedestrian is present on the road. It is set low. Moreover, since the invasion of a person who does not get on the vehicle is prohibited on the automobile exclusive road, it is estimated that the probability that the person exists is low, so that it is difficult to determine that the object is a person.

[Effect of this embodiment]
In the PCS 1 described in detail above, the CPU 11 of the collision mitigation controller 10 calculates a collision time, which is an expected time until the vehicle collides with an object, in the collision mitigation process. Then, it is determined whether or not the object is a person, and according to the determination result, it is set whether or not the operation of the controlled object 40 that relieves the impact when the vehicle and the person collide is permitted. To do. Then, the CPU 11 operates the controlled object 40 when the operation of the controlled object 40 is permitted and the collision time is less than the limit time that can avoid the collision.

  Here, the process of determining whether or not to permit the operation of the controlled object 40 is performed when it is detected that the object that the vehicle may collide with is a person and the object is detected as a person. The operation of the controlled object 40 is permitted, and the operation of the controlled object 40 is prohibited when it is not detected that the object is a person.

  In particular, when detecting that the object is a person, the CPU 11 determines whether the object is in accordance with the degree to which the parameter detection result acquired from the radar sensor 31 or the image sensor 34 matches the comparison parameter related to the person. A person probability representing the probability of being a person is calculated. Then, the CPU 11 determines that the object is a person when the person probability is equal to or higher than a preset person threshold. Further, the CPU 11 acquires detection results by the yaw rate sensor 32 and the navigation device 35 that detect the parameter detection environment, and associates association data in which each detection environment is associated with a person's existence probability or a correction value based on the existence probability. By referencing, the existence probability or the correction value corresponding to the detected detection environment is selected, and the person probability or the person threshold value is corrected using the selected existence probability or the correction value. However, at the time of this correction, the object is easily determined to be a person as the existence probability of the person increases.

  Therefore, according to such PCS1, in consideration of whether there is a high or low possibility (existence probability) of a person such as a pedestrian in an environment (detection environment) when detecting an object, The person threshold value can be corrected. Therefore, it can be accurately identified whether or not the detection environment object is a person. Further, the controlled object 40 can be operated only when a collision with a person is unavoidable.

  Further, in the PCS 1, the CPU 11 calculates a person probability based on a detection result by the radar sensor 31 or the image sensor 34 that detects a parameter related to an object positioned in the traveling direction of the vehicle as an object, and further, the traveling environment of the vehicle The detection result by the yaw rate sensor 32 and the navigation device 35 for detecting the vehicle is acquired, the correction value corresponding to the acquired traveling environment is selected, and the threshold value is corrected using the selected value.

  According to such PCS1, since the traveling environment can be easily detected using the yaw rate sensor 32 and the navigation device 35 mounted on a normal vehicle, the probability that a person exists in the traveling direction of the vehicle is also improved. Can be easily identified.

  Further, the CPU 11 corrects the threshold value based on a correction value corresponding to the number of accidents of a person-to-vehicle that has occurred in the past in an environment similar to the acquired traveling environment. In other words, if the current driving environment is a driving environment in which many accidents of people versus vehicles have occurred in the past, it is determined that the probability that a person exists in the driving environment of the vehicle is high.

  According to such PCS1, since the probability that a person exists is selected according to the number of accidents in the past (parameters such as the number of accidents and accident frequency), the person probability or the person threshold value is selected according to the selected value. Can be corrected accurately.

  Further, in the PCS 1, the CPU 11 acquires the detection result by the navigation device 35 that detects the road type on which the vehicle is traveling, and the correction value when the road type is an automobile-only road is the road type is not an automobile-only road. The CPU 11 of the collision mitigation controller 10 is set to a value that makes it difficult to determine that the object is a person rather than the correction value in this case.

  According to such a collision mitigation controller 10, it is possible to make it difficult to detect an object as a person, particularly on an automobile-only road where a person should not exist. Thus, it is possible to prevent erroneous detection that is detected as a person.

  Furthermore, the CPU 11 detects a shape of the target object by performing image processing on an image captured by the image sensor 34 that captures a target area where the target object exists, and detects a distance to the target object using the radar sensor 31. And the probability of person is calculated based on each detection result.

  According to the collision mitigation controller 10 as described above, the distance to the object can be detected, and the size of the person in the captured image can be estimated based on this distance. Therefore, the detection accuracy of a person can be improved.

[Configuration of Other Embodiments]
Embodiments of the present invention are not limited to the above-described embodiments, and can take various forms as long as they belong to the technical scope of the present invention.

  For example, in the above-described embodiment, the human probability calculation process is an image process mainly using a captured image by the image sensor 34, but may be a process including only the radar sensor 31. In this case, attention is paid to the width and height of the object that can be detected by the radar sensor 31.

  Here, FIG. 5 is a graph showing the relationship between the width and height of the object and the coefficient used when calculating the human probability. When the radar sensor 31 determines that the object is a person, for example, as shown in FIG. 5, the width of the object is 0.5 m, and the height of the object is 1.0 m to 1.8 m. It is assumed that an object within the range has the highest probability (here, coefficient) that it is the person. Then, it is assumed that the probability of being a person gradually decreases as the value falls outside these ranges.

  The human probability is a constant (for example, 0.5%) for each of the width coefficient obtained by the width of the object (see FIG. 5A) and the height coefficient obtained by the height of the object (see FIG. 5B). ) Is added to the product. Even in this way, the person probability can be calculated.

  It should be noted that the human probability calculation process using the radar sensor 31 and the human probability calculation process using the image processing described above may be used in combination. In this case, the person probabilities calculated in the respective processes may be multiplied by a predetermined coefficient (for example, multiplied by 0.5 each) and added together.

  In addition, the person probability is corrected by conditions such as the duration of detecting the object as a person and whether or not a person can be detected by a plurality of methods when detecting a person by a plurality of different methods. It may be. Furthermore, in the above embodiment, the threshold value is corrected according to the driving environment. However, the threshold value may be left as it is, and the person probability that is a value compared with the threshold value may be corrected.

  Further, in the above embodiment, the driving environment and the correction value according to the existence probability of the person are associated with each other and recorded in the ROM, and the correction value according to the driving environment is selected. It is also possible to record in the ROM the detection environment at the time of detecting and the presence probability of a person or a value based on the presence probability in association with each other. In this case, the correction value may be calculated based on the existence probability, and the threshold value is continuously changed according to the existence probability.

  DESCRIPTION OF SYMBOLS 1 ... PCS, 10 ... Collision mitigation controller, 11 ... CPU, 12 ... ROM, 13 ... RAM, 31 ... Radar sensor, 32 ... Yaw rate sensor, 33 ... Wheel speed sensor, 34 ... Image sensor, 35 ... Navigation apparatus, 40 ... Controlled object.

Claims (7)

A person detection device for detecting that a detected object is a person,
A person representing the probability that the object is a person according to the degree to which the parameter detection result and the comparison parameter related to the person match at least a detection result obtained by a parameter detection unit that detects a parameter related to the appearance of the object A human probability calculating means for calculating a probability;
Person determination means for determining that the object is a person when the person probability is equal to or higher than a preset person threshold;
With
The person probability calculating means includes
Image processing means for detecting the shape of the object by image processing a captured image by an imaging means for imaging a target area where the object exists
Distance detection means for detecting a distance to the object by outputting a transmission wave toward the target area and detecting a reflected wave reflected by the object;
Respectively, and the size of the object in the captured image is specified based on the detection result by the distance detection unit, and the width of the object deviates from a preset width reference value, or A person detection apparatus, wherein the person probability is calculated by gradually setting the person probability lower as the height of the object deviates from a preset height reference value. The person detection device according to claim 1,
The person probability calculating means excludes an object having a size far from a person in the captured image as a person. In the person detection device according to claim 1 or 2,
The person probability calculating means uses a value having a range defined by a preset upper limit value and lower limit value as the height reference value. The person detecting device according to claim 3,
The person probability calculating means uses 0.5 m as the width reference value, uses 1.8 m as an upper limit value of the height reference value, and 1.0 m as a lower limit value.   The person detection program for performing the function as each means which comprises the person detection apparatus of any one of Claims 1-4 in a computer. An operation control device that controls the operation of a mitigation means that is mounted on a vehicle and relieves an impact when the vehicle collides with a person,
A person detection means for detecting that the object that the vehicle may collide with is a person;
When the person detection means detects that the object is a person, the operation of the mitigation means is permitted, and when the person detection means does not detect that the object is a person, the mitigation means An operation control means for prohibiting the operation;
With
The said person detection means is comprised as a person detection apparatus of any one of Claims 1-4, The operation control apparatus characterized by these. A collision mitigation device that is mounted on a vehicle and relieves an impact when the vehicle collides with a person,
Obtain at least the detection result by the position detection means for detecting the position of the object existing in the traveling direction of the vehicle and the detection result by the speed detection means for detecting the traveling speed of the vehicle, and based on the respective detection results, Collision calculation means for calculating a collision time which is an expected time until the vehicle collides with the object;
Operation setting for determining whether or not the object is a person, and setting whether to permit the operation of the mitigation means for reducing the impact when the vehicle and the person collide according to the determination result Means,
A mitigation control means for actuating the mitigation means when the operation setting means permits the mitigation means to operate and the collision time is less than a limit time that can avoid a collision;
With
The said action setting means is comprised as an action control apparatus of Claim 6, The collision mitigation apparatus characterized by the above-mentioned.

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