JP4847808B2 - Obstacle estimation method and apparatus for vehicle - Google Patents

Description

  The present invention relates to a vehicle obstacle estimation method for estimating the type of an obstacle with which a vehicle has collided, and a vehicle obstacle estimation device that implements the same.

  2. Description of the Related Art In recent years, a vehicle has two types of vehicles for protecting a pedestrian by, for example, jumping up the hood in order to absorb and mitigate an impact caused by a secondary collision when the pedestrian jumps up and falls on the hood at the time of pedestrian collision. A device equipped with a next collision countermeasure device is known.

  In a vehicle equipped with such a secondary collision countermeasure device for a vehicle, it is necessary to estimate whether or not the obstacle with which the vehicle collided is a pedestrian. As the obstacle estimation device, for example, on the inner surface of the bumper face that covers the front bumper beam, a bumper sensor consisting of an acceleration sensor is attached at almost the same height as the bumper beam, and the deformation that deforms when the bumper face hits the obstacle The acceleration is detected and the deformation acceleration is integrated to calculate the deformation speed of the bumper face, and the calculated deformation speed is further integrated to calculate the deformation amount of the bumper face, and the deformation acceleration, deformation speed and deformation amount are calculated. Based on the above, it is known that it is determined whether the obstacle hit by the vehicle is a specific obstacle such as a pedestrian (for example, see Patent Document 1).

JP 2002-127867 A

  However, in the obstacle estimation device disclosed in Patent Document 1 described above, a bumper sensor including an acceleration sensor is provided at one location in the height direction of the vehicle on the inner surface of the bumper face, and the bumper detected by the bumper sensor is provided. The deformation acceleration of the face is integrated once and twice to calculate the deformation speed and the deformation amount, and the collision object is estimated based on the detected deformation acceleration and the calculated deformation speed and deformation amount. Therefore, estimation takes time and it is difficult to obtain sufficient estimation accuracy.

  For this reason, when the obstacle is a specific obstacle such as a pedestrian, the pedestrian or the like may fall on the hood before the secondary collision countermeasure device for a vehicle such as the hood is flipped up. . In particular, in the case of an obstacle, there is a possibility that the vehicle is erroneously estimated as a specific obstacle and the secondary collision countermeasure device for a vehicle is activated.

  Therefore, the purpose of the present invention made in view of such circumstances is to distinguish a collision with a specific obstacle such as a pedestrian from a collision with a non-specific obstacle, in particular, a small obstacle or a low center of gravity obstacle with high accuracy and An object of the present invention is to provide a vehicle obstacle estimation method and apparatus capable of quick estimation.

  The invention according to claim 1, which achieves the above object, is a vehicle obstacle estimation method for estimating a type of an obstacle with which a vehicle has collided. The deformation of the bumper beam is monitored, the second sensor is disposed at almost the same height as the bumper beam on the bumper face covering the bumper beam, and the contact of the obstacle from the output to the bumper face is monitored. Also, a third sensor is arranged on the bottom deformable member provided at the bottom of the front part of the vehicle located below, and the deformation of the bottom deformable member is monitored from its output, and further a vehicle speed sensor is arranged on the vehicle. The vehicle speed of the vehicle is monitored from the output, the third sensor detects the deformation of the bottom deformable member, and the second sensor detects the contact of the obstacle. And the initial deformation acceleration of the bottom deformable member detected from the output of the third sensor is detected from the output of the vehicle speed sensor when the second sensor detects contact with an obstacle. And the obstacle is estimated as a specific obstacle when the threshold is not more than a specific obstacle estimation threshold set in advance corresponding to the initial deformation acceleration of the bumper beam detected from the output of the first sensor. To do.

  According to a second aspect of the present invention, in the vehicle obstacle estimation method of the first aspect, when only the third sensor detects the deformation of the bottom deformable member, the obstacle is detected by the second sensor. The third sensor detects the deformation of the bottom deformable member, the second sensor detects the contact of the obstacle, and the third sensor detects the deformation of the bottom deformable member. When the initial deformation acceleration of the bottom deformable member detected from the output of the third sensor exceeds the specific obstacle estimation threshold, the obstacle is estimated as a low center of gravity obstacle.

  A third aspect of the present invention is the vehicle obstacle estimation method according to the first or second aspect, wherein the bottom deformable member is a radiator panel lower.

  Furthermore, the invention according to claim 4 that achieves the above object is an obstacle estimation device for a vehicle that estimates the type of an obstacle with which a vehicle collides, and is disposed on a bumper beam at a front portion of the vehicle to determine a deformation acceleration of the bumper beam. A first sensor for detecting, a second sensor for detecting contact of an obstacle with the bumper face disposed at substantially the same height as the bumper beam on the bumper face covering the bumper beam, and a lower side than the bumper beam A third sensor for detecting a deformation acceleration of the bottom deformable member, a vehicle speed sensor for detecting a vehicle speed of the vehicle, and a vehicle speed sensor. A memory for storing a threshold value for estimating a specific obstacle set in advance corresponding to the vehicle speed and the initial deformation acceleration of the bumper beam detected by the first sensor. And the outputs of the first sensor, the second sensor, the third sensor, and the vehicle speed sensor, the third sensor detects the deformation of the bottom deformable member, and the second sensor When the sensor detects an obstacle contact, and the initial deformation acceleration of the bottom deformable member detected from the output of the third sensor indicates that the second sensor detects the obstacle contact. When the vehicle speed detected from the output of the vehicle speed sensor and the threshold value for estimating the specific obstacle stored in the storage means corresponding to the initial deformation acceleration of the bumper beam detected from the output of the first sensor are below the obstacle And estimating means for estimating an object as a specific obstacle.

  According to a fifth aspect of the present invention, in the vehicle obstacle estimation apparatus according to the fourth aspect, the estimation means further includes the obstacle when only the third sensor detects a deformation of the bottom deformable member. The object is estimated to be a small obstacle lower than the installation height of the second sensor, the third sensor detects the deformation of the bottom deformable member, and the second sensor detects the obstacle. When the initial deformation acceleration of the bottom deformable member detected from contact and detected from the output of the third sensor exceeds the specific obstacle estimation threshold, the obstacle is estimated as a low center of gravity obstacle. It is characterized by that.

The invention according to claim 6 is the obstacle estimation device for a vehicle according to claim 4 or 5,
It has an estimation signal output means for outputting an estimation signal based on the estimation result of the estimation means.

  The invention according to claim 7 is the obstacle estimation device for a vehicle according to any one of claims 4 to 6, wherein the bottom deformable member is a radiator panel lower.

  According to the first aspect of the invention, the first sensor monitors the deformation of the bumper beam, the second sensor monitors the contact of the obstacle at substantially the same height as the bumper beam of the bumper face, and the third sensor. The deformation of the bottom deformable member at the front part of the vehicle located below the bumper beam is monitored, the vehicle speed is monitored by a vehicle speed sensor, the third sensor detects the deformation of the bottom deformable member, and The sensor of 2 detects the contact of the obstacle, and the initial deformation acceleration of the bottom deformable member detected by the third sensor is the vehicle speed detected by the vehicle speed sensor when the obstacle contact is detected by the second sensor and Since the obstacle is estimated as a specific obstacle when it is equal to or less than a preset threshold value for estimating the specific obstacle corresponding to the initial deformation acceleration of the bumper beam detected by the first sensor, Collision and, as distinguished from collision with a high obstacle height than the small obstacles and the bumper beam position is lower in height than the bumper beam position, it is possible to highly accurately and quickly estimate.

  According to the invention of claim 2, in addition to a specific obstacle such as a pedestrian, a small obstacle and a low center of gravity obstacle can be distinguished and estimated with high accuracy.

  According to the invention of claim 3, it is possible to easily install the third sensor without adding a member dedicated to sensor installation.

  According to the invention of claim 4, it is possible to specify a pedestrian or the like with a simple and inexpensive configuration having the first sensor, the second sensor, the third sensor, the vehicle speed sensor, the storage means, the estimation means, and the estimation signal output means. A collision with an obstacle can be distinguished from a collision with a small obstacle or an obstacle, and can be estimated with high accuracy and speed.

  According to the invention of claim 5, it is possible to accurately estimate and estimate a small obstacle and a low center of gravity obstacle in addition to a specific obstacle such as a pedestrian by the estimating means.

  According to the invention of claim 6, a specific obstacle such as a pedestrian is activated by operating the vehicle secondary collision countermeasure device based on the estimated signal from the estimated signal output means when the obstacle is estimated as the characteristic obstacle. It is possible to reliably absorb and mitigate the impact caused by the secondary collision when an object is flipped up on the hood and falls down.

  According to the invention of claim 7, it is possible to easily install the third sensor without adding a member dedicated to sensor installation.

  Embodiments of a vehicle obstacle estimation method and apparatus according to the present invention will be described below with reference to the drawings.

  1 and 2 show an embodiment of the present invention. FIG. 1 is a conceptual diagram showing a schematic configuration of a vehicle secondary collision countermeasure device including a vehicle obstacle estimation device. FIG. 2 is a flowchart for explaining the operation of the vehicle obstacle estimation apparatus shown in FIG.

  In FIG. 1, a vehicle 11 is provided with an engine room 12 at a front portion, and a front-opening hood 13 is provided so as to close an upper opening of the engine room 12 so as to be freely opened and closed. In addition, a bumper beam 15 is provided at the front portion of the vehicle 11, and a bumper face 16 is provided so as to cover the bumper beam 15.

  The bumper face 16 is made of, for example, a resin product, and is deformed according to an impact force when the vehicle 11 hits the obstacle S. Between the bumper face 16 and the bumper beam 15 and between the bumper face 16 and a radiator panel lower 17 which is a bottom deformable member (hereinafter, the radiator panel lower 17 is also abbreviated as a radiator panel lower 17), foams or the like are respectively provided. The impact absorbing member is interposed, and a pedestrian protection measure structure is configured.

  The vehicle secondary collision countermeasure device 20 includes left and right hood holding mechanisms 21 provided corresponding to the left and right rear portions of the hood 13, and left and right hoods 13 that lift the rear portion of the hood 13 by a predetermined amount via the left and right hood holding mechanisms 21. Actuator 22. In FIG. 1, only the left hood holding mechanism 21 and actuator 22 are shown.

  The hood holding mechanism 21 normally serves as a hinge that opens and closes the hood 13. When the rear portion of the hood 13 is lifted, the hood holding mechanism 21 is a hinge that also serves as a connecting link mechanism that determines the rising position of the rear portion of the hood 13 with an extended link. ing. Further, the actuator 22 receives a drive command signal that is an estimation signal from the vehicle obstacle estimation device 30 described later, ignites the gas generating agent by an ignition device (not shown), and the piston 23 is rapidly boosted by the gas. Is raised by a predetermined stroke to lift the rear portion of the hood 13.

  The vehicle obstacle estimation apparatus 30 of the present embodiment includes a bumper beam sensor 31 that is a first sensor, a contact sensor 32 that is a second sensor, and a radiator panel sensor 33 that is a third sensor. A vehicle speed sensor 34 and a control unit 35 are provided.

  The bumper beam sensor 31 is mounted on the bumper beam 15 and detects the deformation acceleration of the bumper beam 15, and includes, for example, an acceleration sensor. The contact sensor 32 is attached to the back side of the bumper face 16 positioned in front of the bumper beam 15 at a height position substantially the same as the height position of the bumper beam 15 and detects contact of the obstacle S by deformation or displacement of the bumper face 16. For example, a pressure sensor is used. The radiator panel sensor 33 is mounted on the radiator panel 17 and detects the deformation acceleration of the radiator panel 17 and is composed of, for example, an acceleration sensor. The vehicle speed sensor 34 is provided on the axle, for example, and detects the vehicle speed of the vehicle 11.

  Further, the control unit 35 inputs the outputs of the bumper beam sensor 31, the contact sensor 32, the radiator panel sensor 33, and the vehicle speed sensor 34, and whether the colliding obstacle S is a specific obstacle such as a pedestrian or the like, Estimate whether it is a small obstacle lower than the bumper beam 15 such as a sign board such as a pylon or a lane separator, or a low center-of-gravity obstacle such as a cardboard box or a trash can containing a load inside. When a specific obstacle is estimated, a drive command signal is output to the actuator 22 as an estimated signal.

  The control unit 35 is composed of, for example, a microcomputer, and is based on an estimation circuit 36 that is an estimation unit that estimates the obstacle S, a memory 37 that is a storage unit that stores various threshold values, and an estimation result by the estimation circuit 36. A drive command signal generation circuit 38 which is an estimation signal output means for outputting a drive command signal as an estimation signal to the actuator 22 of the secondary collision countermeasure device 20 for a vehicle. In the estimation circuit 36, a bumper beam sensor is provided. 31, an obstacle S that collides with the vehicle 11 in accordance with a predetermined program based on outputs of the contact sensor 32, the radiator panel sensor 33, the vehicle speed sensor 34, and a required threshold value stored in the memory 37. It is estimated whether the obstacle is a specific obstacle, a small obstacle, or an obstacle with a low center of gravity. And it outputs a drive command signal to the actuator 22.

  The bumper beam sensor 31, the contact sensor 32, and the radiator panel sensor 33 may each be one, or may be arranged in the vehicle width direction, and the control unit 35 may calculate the average value of the plurality of detection signals. Alternatively, the actuator 22 may be controlled by selecting the maximum detection signal. The threshold value stored in the memory 37 is a threshold value for detecting whether the outputs of the bumper beam sensor 31 and the radiator panel sensor 33 have risen, that is, whether the bumper beam 15 and the radiator panel 17 have been deformed, respectively. In addition to the threshold value for detecting whether the output of the contact sensor 32 is turned on, that is, whether the obstacle S is in contact with the bumper face 16, whether the obstacle S is a specific obstacle such as a pedestrian In order to estimate whether the obstacle is a low center of gravity, a threshold value for estimating a specific obstacle with respect to the initial deformation acceleration of the radiator panel 17 associated with the output of the bumper beam sensor 31 by mapping for each speed is included.

As described above, when the radiator panel sensor 33 is disposed at a position lower than the installation positions of the bumper beam sensor 31 and the contact sensor 32, the obstacle S is a small obstacle having a height lower than that of the bumper beam 15. It will be caught under the vehicle 11 without colliding with the front part of the bumper face 16. For this reason, a large deformation acceleration is mainly detected from the radial panel sensor 33 without the contact sensor 32 detecting the contact of the obstacle S. FIG. 3 is a waveform diagram showing an example of a change in deformation acceleration detected when the vehicle collides with a small obstacle having a height lower than that of the bumper beam 15.

Further, when the obstacle S is a low center of gravity obstacle having a height higher than that of the bumper beam 15 and a low center of gravity, the obstacle S collides with the front part of the bumper face 16 and then falls down and is caught under the vehicle 11. Become. For this reason, the contact of the obstacle S is detected by the contact sensor 32, and a large deformation acceleration is detected from the bumper beam sensor 31 and the radial panel lower sensor 33 as the impact force increases due to an increase in the vehicle speed. Become. FIG. 4 is a waveform diagram showing an example of a change in deformation acceleration detected when the vehicle collides with a low center of gravity obstacle having a height higher than that of the bumper beam 15 and a lower center of gravity.

  On the other hand, when the obstacle S is a specific obstacle such as a pedestrian, the front part of the bumper face 16 usually collides with the specific obstacle, and then the specific obstacle is bounced up and falls to the hood 13 side. Therefore, as in the case of the low center of gravity obstacle described above, the contact sensor 32 detects the contact of the obstacle S, and the bumper beam sensor 31 and the radiator panel lower sensor 33 detect the impact force due to the increase in vehicle speed. A large deformation acceleration is detected with the increase. However, in the case of a specific obstacle such as a pedestrian, it usually collides with the right or left knee or thigh, and then the right or left knee or thigh as the vehicle 11 progresses. Since it is moved up and then lifted after coming into contact with the left or right knee or thigh on the opposite side, the initial deformation acceleration detected by the radial panel lower sensor 33 at the initial stage of the collision is low center of gravity disorder Compared to things, it becomes small. FIG. 5 is a waveform diagram showing an example of a change in deformation acceleration detected when the vehicle collides with a specific obstacle such as a pedestrian.

  Hereinafter, the operation of the vehicle obstacle estimation device 30 according to the present embodiment will be described with reference to the flowchart shown in FIG.

  The estimation circuit 36 of the control unit 35 monitors the output of each of the bumper beam sensor 31, the contact sensor 32, and the radiator panel sensor 33 by comparing with the corresponding threshold value stored in the memory 37, and also detects the vehicle speed sensor. While monitoring the vehicle speed signal from 34, it is first determined whether or not the radial panel lower sensor 33 has detected deformation acceleration (step S1).

  As a result, when the radial panel sensor 33 detects the deformation acceleration (Yes in step S1), it is next determined whether or not the output of the contact sensor 32 is on (step S2).

  Here, when the output of the contact sensor 32 is off (No in step S2), the obstacle S is estimated to be a small obstacle lower than the bumper beam 15 (step S3), and the drive command signal The processing ends without generating a drive command signal from the generation circuit 38 to the actuator 22 of the vehicle secondary collision countermeasure device 20.

  On the other hand, when the output of the contact sensor 32 is on (Yes in step S2), the vehicle speed by the vehicle speed sensor 34 when the output of the contact sensor 32 is turned on, Based on the output of the bumper beam sensor 31 obtained immediately after the output of is turned on, the corresponding threshold value for estimating the specific obstacle is read from the memory 37, and the initial deformation acceleration detected by the radiator panel sensor 33 is It is determined whether or not the threshold value is less than the read threshold value for estimating a specific obstacle (step S4).

  As a result, when it is determined that the initial deformation acceleration detected by the radiator panel sensor 33 exceeds the threshold value for estimating the specific obstacle (No in step S4), the obstacle S is estimated to be a low center of gravity obstacle. (Step S5) The process is terminated without outputting a drive command signal from the drive command signal generation circuit 38 to the actuator 22 of the vehicle secondary collision countermeasure device 20.

  On the other hand, when it is determined that the initial deformation acceleration detected by the radiator panel sensor 33 is equal to or less than the threshold value for estimating the specific obstacle (Yes in step S4), the obstacle S is a specific obstacle such as a pedestrian. After estimation (step S6), a drive command signal is immediately output from the drive command signal generation circuit 38 to the actuator 22 of the vehicle secondary collision countermeasure device 20 (step S7), and the process is terminated. As a result, the actuator 22 is actuated and the rear portion of the hood 13 is lifted as shown by the phantom line, so that a predetermined space is formed between the hood 13 and the engine room 12, and a specific obstacle such as a pedestrian The impact caused by the secondary collision in the case of the hood 13 jumping up and falling down is absorbed and relaxed.

  As described above, in the present embodiment, the bumper beam 15 is provided with the bumper beam sensor 31 for detecting the deformation acceleration, and the bumper face 16 is provided on the back surface side of the bumper face 16 at substantially the same height as the bumper beam 15. A contact sensor 32 for detecting the contact of the obstacle S is provided, and a radiator panel lower sensor 33 for detecting the deformation acceleration is provided on the radiator panel lower 17 positioned below the bumper beam 15. Further, a vehicle speed sensor 34, a vehicle speed and a bumper beam are provided. A memory 37 for storing a threshold value for estimating a specific obstacle for the initial deformation acceleration of the radiator panel 17 corresponding to the initial deformation acceleration of 15, an output of the bumper beam sensor 31, the contact sensor 32, the radiator panel sensor 33 and the vehicle speed sensor 34, and Based on the threshold value for estimating the specific obstacle stored in the memory 37, the obstacle S An estimation circuit 36 for estimating the class, and a drive command signal generation circuit 38 for outputting a drive command signal for the actuator 22 of the vehicle secondary collision countermeasure device 20 based on the estimation result. The panero sensor 33 detects the deformation of the radiator panel 17, the contact sensor 32 detects the contact of the obstacle S, and the initial deformation acceleration of the radiator panel 17 detected by the radiator panel 33 is stored in the memory 37. When the obstacle contact is detected by the contact sensor 32, the obstacle S is determined to be a pedestrian when the vehicle speed is lower than the threshold for estimating the specific obstacle corresponding to the vehicle speed by the vehicle speed sensor 34 and the initial deformation acceleration of the bumper beam 15 by the bumper beam sensor 31. Because it was estimated to be a specific obstacle such as As distinguished from collision with harm materials and low center of gravity obstacles, can be highly accurately and quickly estimate. In addition, when a specific obstacle is estimated, a drive command signal is output from the drive command signal generation circuit 38 to the actuator 22 of the secondary collision countermeasure device 20 for a vehicle. Thus, it is possible to reliably absorb and mitigate the impact caused by the secondary collision when the hood 13 is jumped up on the hood 13 and falls down.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of invention. For example, the third sensor is not limited to the case where the third panel 17 is provided as the first panel sensor 33. The third sensor is located below the bumper beam 15 at the front portion of the vehicle 11, and may collide with a specific obstacle or It can also be provided on another bottom deformable member that can be deformed by entrainment, or can be attached by providing a dedicated bottom deformable member on the bottom of the vehicle.

It is a conceptual diagram which shows schematic structure of the secondary collision countermeasure apparatus for vehicles provided with the obstacle estimation apparatus for vehicles which concerns on one embodiment of this invention. It is a flowchart for demonstrating operation | movement of the obstacle estimation apparatus for vehicles shown in FIG. It is a wave form diagram which shows an example of the change of a deformation | transformation acceleration detected when it collides with the small obstruction lower than a bumper beam . It is a wave form diagram which shows an example of the change of the deformation | transformation acceleration detected when it collides with the low center-of-gravity obstacle whose height is higher than a bumper beam and whose gravity center is low. It is a wave form diagram which shows an example of the change of the deformation acceleration detected when it collides with specific obstacles, such as a pedestrian.

Explanation of symbols

11 Vehicle 12 Engine Room 13 Hood 15 Bumper Beam 16 Bumper Face 17 Radiator Panel Lower (Radipaneroer; Bottom Deformable Member)
DESCRIPTION OF SYMBOLS 20 Secondary collision countermeasure apparatus for vehicles 21 Hood holding mechanism 22 Actuator 23 Piston 30 Obstacle estimation apparatus 31 for vehicles 31 Bumper beam sensor (1st sensor)
32 Contact sensor (second sensor)
33 Radipanero sensor (third sensor)
34 Vehicle speed sensor 35 Control unit 36 Estimation circuit (estimation means)
37 Memory (storage means)
38 Drive command signal generation circuit (estimated signal output means)

Claims (7)

In the vehicle obstacle estimation method for estimating the type of obstacle that the vehicle collides with,
The first sensor is arranged on the bumper beam at the front of the vehicle, and the deformation of the bumper beam is monitored from the output thereof.
The second sensor is arranged at a height position substantially the same as the bumper beam on the bumper face covering the bumper beam, and the contact of an obstacle from the output to the bumper face is monitored.
A third sensor is disposed on the bottom deformable member provided at the bottom of the front portion of the vehicle located below the bumper beam, and the deformation of the bottom deformable member is monitored from the output;
Furthermore, a vehicle speed sensor is arranged on the vehicle, and the vehicle speed of the vehicle is monitored from the output,
The third sensor detects deformation of the bottom deformable member, the second sensor detects contact of an obstacle, and the bottom deformable member is detected from the output of the third sensor. The initial deformation acceleration corresponds to the vehicle speed detected from the output of the vehicle speed sensor when the second sensor detects an obstacle contact and the initial deformation acceleration of the bumper beam detected from the output of the first sensor. An obstacle estimation method for a vehicle, wherein the obstacle is estimated as a specific obstacle when the threshold value is less than or equal to a predetermined obstacle estimation threshold. When only the third sensor detects deformation of the bottom deformable member, the obstacle is estimated as a small obstacle having a height lower than the installation height of the second sensor,
The third sensor detects deformation of the bottom deformable member, the second sensor detects contact of an obstacle, and the bottom deformable member is detected from the output of the third sensor. The vehicle obstacle estimation method according to claim 1, wherein when the initial deformation acceleration exceeds the specific obstacle estimation threshold, the obstacle is estimated as a low center of gravity obstacle.   The vehicle obstacle estimation method according to claim 1, wherein the bottom deformable member is a radiator panel lower. In the vehicle obstacle estimation device for estimating the type of obstacle with which the vehicle collided,
A first sensor disposed on a bumper beam at the front of the vehicle for detecting deformation acceleration of the bumper beam;
A second sensor that detects contact of an obstacle to the bumper face at a position substantially the same as the bumper beam of the bumper face that covers the bumper beam;
A third sensor arranged on a bottom deformable member at the front of the vehicle located below the bumper beam and detecting a deformation acceleration of the bottom deformable member;
A vehicle speed sensor for detecting the vehicle speed of the vehicle;
Storage means for storing a threshold value for estimating a specific obstacle set in advance corresponding to the vehicle speed detected by the vehicle speed sensor and the initial deformation acceleration of the bumper beam detected by the first sensor;
The outputs of the first sensor, the second sensor, the third sensor and the vehicle speed sensor are monitored, and the third sensor detects the deformation of the bottom deformable member, and the second sensor Detects the contact of the obstacle, and the initial deformation acceleration of the bottom deformable member detected from the output of the third sensor indicates that the vehicle speed sensor is detected when the second sensor detects the contact of the obstacle. When the vehicle speed is less than or equal to the threshold value for estimating the specific obstacle stored in the storage means corresponding to the initial deformation acceleration of the bumper beam detected from the output of the first sensor and the vehicle speed detected from the output of the first sensor, An estimation means for estimating a specific obstacle;
An obstacle estimation device for a vehicle characterized by comprising: Further, when only the third sensor detects deformation of the bottom deformable member, the estimating means estimates the obstacle as a small obstacle having a height lower than the installation height of the second sensor. And
The third sensor detects deformation of the bottom deformable member, the second sensor detects contact of an obstacle, and the bottom deformable member is detected from the output of the third sensor. The vehicle obstacle estimation device according to claim 4, wherein when the initial deformation acceleration exceeds the specific obstacle estimation threshold, the obstacle is estimated as a low center of gravity obstacle.   6. The obstacle estimation device for a vehicle according to claim 4, further comprising an estimation signal output unit that outputs an estimation signal based on an estimation result of the estimation unit. The vehicle obstacle estimation apparatus according to any one of claims 4 to 6, wherein the bottom deformable member is a radiator panel lower.

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