JPH11310095A - Vehicle collision detection device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable estimation of a collision target, that is, distinction between collision with a pedestrian and collision with a vehicle, and enable operation of a protection device corresponding thereto. SOLUTION: A collision detecting means 1 for detecting a collision between a collision target and a vehicle, a collision state estimating means 2 for estimating what has collided from the collision information and a vehicle speed, and a pedestrian from a signal of the collision state estimating means 2 An operation selecting means 4 for judging which of the protection device 8 and the occupant protection device 6 is to be activated, or which protection device is to be activated in a vehicle having a plurality of occupant protection devices 6 or pedestrian protection devices 8, A vehicle collision determination device that determines whether the vehicle has collided with a pedestrian or another obstacle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular collision for estimating a collision object which has collided with a vehicle based on a deformation amount of a collision portion deformed by the collision of the vehicle with the vehicle and a vehicle speed at the time of the collision of the vehicle. The present invention relates to a determination device.

In addition, the present invention detects the pressure of an incompressible fluid in a room of a detection unit mounted on a part of a vehicle at the time of a collision with a collision target, and detects a pressure with the detected collision with the collision target. The present invention relates to a vehicle collision determination device that estimates a collision target based on a pressure signal in the room and a rising pattern of a pressure waveform due to a collision with the collision target (a transition state of a pressure change) based on the pressure signal in the room.

[0003]

2. Description of the Related Art As shown in FIG. 30, a conventional collision detecting device for an automatic guided vehicle (Japanese Patent Laid-Open No. 60-191855) is provided with an elastic tube T in which fluid is sealed in the outer periphery of a vehicle body B. The change in the internal pressure caused by the deformation of the tube T due to the collision is measured by the pressure sensor P to detect the collision of the vehicle body.

In the embodiment, the pressure sensor P is constituted by a pressure switch, and when the pressure generated by the collision exceeds a certain reference value, the contact is short-circuited and the control circuit stops the vehicle. is there. There is no statement to sample changes in pressure levels.

A conventional pedestrian protection safety device (US Pat. No. 4,249,632) operates a pedestrian protection device in response to a trigger signal of a collision detection sensor S of a bumper BP as shown in FIG. Pedestrian collision detection sensor S attached to the front bumper BP
And one or more displacement means G for lifting the bonnet BN.

The displacement means G has a gas bag, and there are a case where the rear end of the bonnet BN is lifted and a case where both the front end and the rear end are lifted. The gas bag outputs a trigger signal when a sensor S incorporated in the bumper BP collides, and generates gas with an inflator of the thrust device.

Further, a conventional hood airbag sensor system (Japanese Patent Application Laid-Open No. Hei 8-216826), as shown in FIG. 32, is for reliably deploying a hood airbag F which is a pedestrian protection device at the time of a collision with a pedestrian. And a pedestrian collision determination device.

In the above pedestrian collision determination device, a bumper BP is used as means for detecting that a pedestrian has collided with a vehicle.
When two signals from the bumper sensor S embedded in the hood and the hood sensor FS embedded in the hood edge are both input, a collision with a pedestrian is determined.

In the bumper sensor S, conductive rubber integrally pressurized with silicon rubber mixed with metal fine particles is sandwiched from both sides by two electrodes made of a flat knitted copper wire bundle, and the outside is integrally covered with silicon rubber. It is long. The hood sensor S is turned “ON” when a load is applied to the front end of the hood, and establishes an electrically conductive state.

Another conventional occupant protection device detects an acceleration of a vehicle body and deploys an airbag in the vehicle when the level of the vehicle body exceeds a predetermined level. Protection of occupants from obstacles in this way is generally well known. Further, there is a device that detects the position or presence or absence of a passenger in a vehicle compartment and sets an appropriate deployment condition.

Further, the conventional pedestrian protection sensor system (Japanese Patent Laid-Open No. 11-28994) compares the continuation time during which the load generated by the collision with the pedestrian is equal to or greater than a threshold value with a reference value, and If the time is within the above reference value,
It was something that jumped up the hood.

[0012]

In the conventional automatic collision detection system for an automatic guided vehicle, the means for detecting the collision replaces the deformation of the tube filled with the fluid with a change in pressure. For this reason, there is a difference depending on the degree of the collision, but there is a problem that it is impossible to determine what was the collision.

In particular, when a pressure switch is used as in the embodiment, it cannot be detected unless the pressure switch is deformed over a wide width and to some extent, and it is impossible to determine at all what has collided. This may be sufficient for an unmanned guided vehicle traveling at a low speed, but in a vehicle such as an automobile traveling on a road at a wide range of speeds, it is necessary to change the way in which the protection device operates depending on the collision.

When a fluid is simply sealed, the tube T expands and contracts due to surrounding heat in a normal state, and the pressure level changes. Therefore, in order to detect a minute pressure change, it is necessary to provide a control circuit capable of detecting the pressure change. However, the above-mentioned conventional apparatus does not have these descriptions, and it is only possible to set a certain pressure level in consideration of thermal expansion and contraction and determine whether or not the pressure level has exceeded this value, judging from the embodiment. Therefore, it is difficult to detect the collision intensity that changes depending on the vehicle speed or the collision target.

In the above-mentioned conventional pedestrian protection safety device, since the collision is detected only by the sensor S built in the bumper BP, the safety device is activated not only when the vehicle collides with the pedestrian but also when the vehicle collides with the vehicle. There was a problem of becoming.

In the above-mentioned conventional hood airbag sensor system, a collision with a pedestrian is not determined unless both the bumper sensor S and the hood sensor FS are turned “ON”. Since the collision cannot be performed, there is no time for operating the pedestrian protection device, and there is a problem that a protection device that responds at high speed is required. Further, even when the tree collides with a tree or the like and the tree is broken and laid on the hood sensor, a problem that a signal similar to that of a pedestrian is output may occur.

Furthermore, even if it is possible to determine whether the collision target is a person or a car, it cannot be determined to which position the pedestrian has collided with the car in front or offset collision. In addition, incorrect judgments can occur if the collision collides with something like a lorry.

In other conventional occupant protection devices, a threshold is set at a predetermined acceleration level in consideration of a malfunction in order to prevent a malfunction. As a result, a relatively small acceleration that collides with a pedestrian is equal to or less than the threshold value, and information that can determine a collision with a pedestrian may not be obtained in a medium-to-low speed collision, particularly in a low-speed pedestrian-vehicle collision. There is.

Further, the above-mentioned conventional sensor system for protecting a pedestrian pays attention to the duration of a load generated by a collision with a pedestrian that is equal to or greater than the threshold value, compares the duration with a reference value, and If the value is within the reference value, the hood is flipped up, so that the transition after the load generated by the collision exceeds the threshold is not detected, so that the collision target cannot be accurately specified. There was a problem.

The inventor of the present invention detects the amount of deformation of the collision portion deformed by the collision with the vehicle as the collision target, and collides with the vehicle based on the detected amount of deformation of the collision portion and the vehicle speed at the time of the collision of the vehicle. Focusing on the first technical idea of the present invention of estimating the collision object described above, as a result of further research and development, it has become possible to predict the collision object, that is, distinguish between collision with pedestrians and collision with vehicles. The present invention has been achieved which achieves the object of doing so.

Further, the inventor of the present invention detects the pressure of the incompressible fluid in the room of the detecting unit mounted on a part of the vehicle at the time of a collision with the collision object, and detects the detected collision with the collision object. Based on the pressure signal in the room according to the above, based on the rising pattern of the pressure waveform due to the collision of the collision target, the second technical idea of the present invention of estimating the collision target was focused, and further research and development were repeated. As a result, the present invention has been achieved which achieves an object of estimating a collision target, that is, enabling a distinction between a collision with a pedestrian and a collision with a vehicle or other obstacle.

[0022]

According to a first aspect of the present invention, there is provided a vehicle collision discriminating apparatus mounted on a part of a vehicle, the collision being deformed by a collision of the collision target with the vehicle. Collision detection means for detecting the deformation amount of the portion, based on the detected deformation amount of the collision portion and the vehicle speed at the time of collision of the vehicle,
And a collision object estimating means for estimating the collision object that has collided with the vehicle.

According to a second aspect of the present invention, in the first aspect of the present invention, the collision object estimating means further stores in advance the temporal change in the deformation amount. The collision target is estimated by comparing the data with the judgment reference data.

According to a third aspect of the present invention, in the first aspect of the present invention, in the first aspect of the invention, the collision object estimating means may be configured such that the detected deformation amount of the collision portion reaches a threshold level. A first change in the amount of deformation of the collision portion from the time when the first minute time has elapsed to the time when the first minute time has elapsed, and comparing the first change with a reference value to estimate a collision target. It is constituted by estimating means.

According to a fourth aspect of the present invention, in the vehicle collision judging device according to the third aspect of the present invention, the collision target estimating means may detect that the deformation amount of the detected collision portion is equal to the first deformation amount. A second change in the amount of deformation of the collision portion from the time when the minute time elapses to the time when the second minute time elapses is determined, and the second change is compared with the first change with respect to the first change. The apparatus is provided with second estimating means for estimating an object.

According to a fifth aspect of the present invention, in the first aspect of the present invention, in the first aspect of the present invention, the collision detecting means includes an incompressible fluid filled therein and detects a collision with a collision object. A deformable room is formed in response to the collision object detected by the pressure detection unit, and configured by pressure detection means for detecting a pressure in the room at the time of collision with the collision object. And estimating means for estimating the collision target based on a rise pattern of a pressure waveform due to the collision of the collision target based on the pressure fluctuation in the room according to the collision with the collision.

According to a sixth aspect of the present invention, in the vehicle collision judging device according to the fifth aspect of the present invention, in the fifth aspect, the pressure detecting means is hard on a vehicle body side of a detecting portion mounted on a part of the vehicle. The detection unit is formed of a soft material on the front side, and the room is formed in the front side member.

According to a seventh aspect of the present invention, in the vehicle collision determining apparatus according to the first aspect, the collision object estimating means may detect the deformation amount and vehicle speed of the detected collision portion and the like. Is compared with a plurality of collision strength determination reference levels determined according to the above, and a control signal is output which enables operation under an operation condition corresponding to the detected level of the collision strength.

In the vehicle collision judging device according to the present invention (an eighth invention according to an eighth aspect), in the first invention, the collision detecting means includes a plurality of collision detecting means having different detection characteristics. The collision object estimating means is arranged at a position, and the collision object estimating means estimates the collision object and the strength of the collision based on the presence or absence and the output level of the plurality of collision detecting means.

According to a ninth aspect of the present invention, in the vehicle collision judging device according to the first aspect, the collision detecting means covers a plurality of areas defined in a width direction of the vehicle. A plurality of collision detection means are arranged as
The collision target estimating means estimates a collision area, a size of a collision target, and a collision situation based on the presence or absence of outputs of the plurality of collision detection means.

The present invention (the tenth aspect of the present invention)
According to the seventh aspect of the present invention, in the collision determination device for a vehicle, the collision target estimating unit outputs a control signal that enables the collision target estimation unit to perform an operation based on an operation condition corresponding to the estimated collision target and the collision strength. .

The present invention (an eleventh invention according to claim 11)
The collision determination device for a vehicle according to the tenth aspect, selects the protection device that needs to be operated based on the estimated collision target based on the control signal from the collision target estimation means, and Operation selection means for outputting an operation signal to the selected protection device, which enables the operation according to the operation speed and other operation conditions according to the strength of the power supply.

[0033]

According to the first aspect of the present invention, there is provided a vehicle collision discriminating apparatus according to the first invention, wherein the collision detecting means mounted on a part of the vehicle has a collision portion deformed by a collision of the collision target with the vehicle. The collision target estimating means estimates the collision target that has collided with the vehicle based on the detected deformation amount of the collision portion and the vehicle speed at the time of the collision of the vehicle. That is, it is possible to distinguish between a collision with a pedestrian and a collision with a vehicle or the like.

According to the second aspect of the present invention, in addition to the operation and effect of the first aspect, the collision object estimating means may include a time-dependent change in the deformation amount and a pre-stored criterion. Since the collision target is estimated by comparing the data with the data, it is possible to estimate the collision target more accurately.

The vehicle collision judging device according to the third aspect of the present invention has the same effects as those of the first aspect of the invention, in addition to the effects of the first aspect of the present invention. A first change in the deformation amount of the collision portion from when the deformation amount reaches the threshold level to when the first minute time has elapsed is determined, and the first change is compared with a reference value. Since the collision target is estimated, it is possible to accurately estimate the collision target.

The vehicle collision judging device according to the fourth aspect of the present invention has the same effects as the third aspect of the invention, in addition to the effects of the third aspect of the present invention. A second change in the amount of deformation of the collision portion from when the first minute time elapses to when the second minute time elapses is determined, and the first change amount of the second change is obtained. Since the collision target is estimated from the positive / negative with respect to the change in the value, the effect of enabling more accurate estimation of the collision target is achieved.

According to the fifth aspect of the present invention, in addition to the function and effect of the first aspect, the pressure detecting means constituting the collision detecting means encloses an incompressible fluid and causes the collision. A deformable room is formed in accordance with the collision with the target, a pressure in the room at the time of the collision with the collision target is detected, and the pressure detection unit detects the pressure in the room, and the pressure detection unit configures the collision target estimation unit. Based on the detected pressure fluctuation in the room according to the collision with the collision target, the collision target is estimated by the rising pattern of the pressure waveform due to the collision of the collision target, so that it is possible to accurately estimate the collision target. That is, it is possible to distinguish between a collision with a pedestrian and a collision with a vehicle.

According to a sixth aspect of the invention, in addition to the functions and effects of the fifth aspect, the pressure detecting means is formed of a hard material on the vehicle body side of a detecting portion mounted on a part of the vehicle. Since the surface side of the detection unit is formed of a member made of a soft material, and the room is formed in the surface member, it is formed in the surface member formed of the soft material. The obtained room is deformed in accordance with the collision object, so that it is possible to more accurately estimate the collision object, that is, to enable reliable distinction between a collision with a pedestrian and a collision with a vehicle. To play.

According to a seventh aspect of the present invention, in addition to the function and effect of the first aspect, the collision object estimating means may determine the collision amount according to the detected deformation amount and the vehicle speed of the collision portion. The control signal is output in accordance with the detected collision strength level by comparing with a plurality of collision strength determination reference levels determined in accordance with the above, so that the operation under the operation condition according to the collision strength level is enabled. It works.

In the vehicle collision determining apparatus according to an eighth aspect of the present invention, in addition to the functions and effects of the first aspect, the collision object estimating means may have different detection characteristics and be arranged at different positions of the vehicle. Since the collision target and the strength of the collision are estimated based on the presence / absence of the output from the collision detection means and the output level, it is possible to accurately estimate the collision target and the collision strength.

A ninth aspect of the present invention is a vehicle collision judging device according to the ninth aspect, wherein the collision object estimating means covers a plurality of areas defined in the width direction of the vehicle, in addition to the effects of the first aspect. The collision area, the size of the collision target,
Since the state of the collision is estimated, it is possible to accurately estimate the position of the collision with the collision target, the size of the collision target, and the state of the collision.

According to the tenth aspect of the present invention, in addition to the operation and effect of the seventh aspect, the collision object estimating means includes an operating condition corresponding to the estimated collision object and the strength of the collision. Since the control signal that enables the operation according to the collision is output, there is an effect that the operation according to the operation condition according to the collision target and the strength of the collision is enabled.

In the vehicle collision determining apparatus according to the eleventh aspect of the present invention, in addition to the functions and effects of the tenth aspect, the operation selecting means is estimated based on the control signal from the collision object estimating means. A protection device that needs to be operated based on the collision target is selected, and an operation signal that enables operation according to an operation speed or other operation conditions according to the estimated collision strength is output to the selected protection device. Therefore, there is an effect that the selected protection device can be operated according to the operation speed and other operation conditions according to the collision target and the collision strength.

[0044]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention are described below.
This will be described with reference to the drawings.

(First Embodiment) A collision detection device for a vehicle according to a first embodiment will be described with reference to FIGS.

The vehicle collision discriminating apparatus according to the first embodiment comprises:
An embodiment of the first invention to the fourth invention, which is provided for a vehicle having one of an occupant protection device and a pedestrian protection device, or both of them.
In a collision between a vehicle and a pedestrian or another obstacle, collision detection means 1 for detecting a collision as shown in FIG.
And the collision state estimating means 2 for estimating the collision from the information or the vehicle speed in addition to the information.

However, the collision detecting means 1 is provided not only in the front part of the vehicle but also in the rear part of the vehicle when the occupant protection device for rear collision is mounted, and when the occupant protection device for side collision is mounted. May also be mounted on the side of the vehicle. The operation selecting means is not necessary if there is only one protection device or if the protection device has a function capable of judging information of the collision determination device.

The collision detecting means 1 is mounted on the front, rear, or side of the vehicle, and detects the size (deformation amount) at which the part is deformed in accordance with the collision load generated by the collision. For example, the deformation of the bumper in the vehicle width direction is not uniform depending on the state of the collision, and is a means for detecting the uneven deformation as an average deformation.

The collision detection means 1 outputs an electric signal obtained by integrating a collision load per unit vehicle width generated by the collision, that is, a deformation force in a width of the collision object applied to the vehicle, and outputs a bumper collision deformation measurement type collision detection. It is a sensor. This measures the deformation of the bumper over a large part of the vehicle width. As a detection method, measurement of each physical quantity such as fluid pressure, capacitance, displacement, magnetic strength, and electric resistance can be used. .

The collision state estimating means 2 quantitatively extracts the magnitude of the electric signal from the collision detecting means 1 and the characteristics of the temporal change, and determines the characteristic values of the electric signal and the judgment reference data which have been created in advance. The first storage means 21 stores the input signals sampled at predetermined time intervals, and stores determination reference data for determining a collision object for each vehicle speed. A second storage means 22 for comparing the collision strengths based on the data of these storage means.

The above criterion data is used to consider that the amount of deformation of the bumper differs depending on the vehicle speed when the vehicle collides with a pedestrian, and that the higher the vehicle speed, the deeper the bite. That is, since the output of the collision detecting means 1 increases due to the increase in the deformation, the output data of the criterion data is checked in advance for each vehicle speed by a dummy test or the like at the time of collision with a pedestrian, and the pedestrian is referred to by referring to the output level The collision object and the collision state are determined by the determination unit 24 based on the comparison result by the comparison unit 23 according to the vehicle speed detected by the vehicle speed sensor 3. .

When there are a plurality of protection devices, the operation selection means 4 is a selection means for determining which one of the protection devices is to be activated, and is provided after the collision state estimation means 2. The protection device protects the occupant and the pedestrian at the same time, or protects either of them. The pedestrian protection device 8 lifts the airbag or the hood over the hood by a predetermined amount and collides with the head of the pedestrian. The occupant protection device 6 includes a device that absorbs and protects the shock of the chest or the like, or an airbag on the steering wheel or dashboard or on the side of the occupant.

The vehicle collision determination device of the first embodiment having the above-described configuration and operation provides the collision object which collided with the vehicle based on the detected deformation amount of the collision portion and the detected vehicle speed at the time of the collision. Of the collision target, that is, the collision with the pedestrian and the collision with the vehicle and other obstacles can be distinguished, and the protection device corresponding thereto can be activated. To play.

(Second Embodiment) The vehicle collision determining apparatus according to the second embodiment is an embodiment of the fifth and sixth inventions, and is used in a collision between a vehicle and a pedestrian or another obstacle. The present invention relates to a vehicle collision discriminating apparatus comprising a collision detecting means for detecting a collision, and a judging means provided with a collision target estimating means for predicting a collision based on the information.

The collision detecting means comprises a tube which is easily deformed and which is inserted into the bumper or mounted on the collision surface of the bumper, which is less deformable and expandable, a fluid sealed in the tube, and the inside of the tube at the time of collision with the collision object. It comprises a pressure-type collision detection sensor unit constituted by a pressure sensor for detecting a pressure change of a fluid sealed in the liquid crystal unit, and an amplifier circuit provided integrally or separately. The fluid is preferably fluid and incompressible.

The judging means compares the electric signal from the collision detecting means with data on a map prepared in advance for each of the vehicle speed and the relative speed with respect to the colliding object to judge what the collision was. Things.

The determination means includes first storage means for storing a sampled pressure signal voltage, and a second storage means for storing a threshold value for each vehicle speed and a relative speed with respect to the collision object and a reference value for determining the collision strength. Storage means, comparing means for comparing an input signal of the first storage means with comparison data of the second storage means to determine a collision strength, and estimating a collision object (collision target) from the collision strength to operate It comprises collision object estimating means for judging / determining the operation signal of the protection device to be activated.

The collision object estimating means samples and stores the pressure signal voltage, the own vehicle speed, etc., and a threshold value for each of the own vehicle speed and the relative speed with respect to the collision object and a reference for judging the strength of the collision. Storage means for storing a value, the collision strength is determined by comparing the output signal of the sampling means and the comparison data of the storage means,
It is configured by arithmetic processing means for estimating the collision object (collision target) from the collision strength and determining / determining the operation signal of the protection device to be activated.

Further, the determination means is an apparatus which can further include a protection device selection means for determining whether to protect the pedestrian or the occupant from the signal of the collision object estimation means.

[0060]

Embodiments of the present invention will be described below with reference to the drawings. The vehicle collision determination devices of the first to fourth examples described below relate to the example of the first embodiment described above, and the vehicle collision determination devices of the fifth to eighth examples are the same as those of the first embodiment. It relates to an example of the second embodiment described above.

(First Embodiment) As shown in FIG. 1, a vehicle collision discriminating apparatus according to a first embodiment comprises: a collision detecting means 1 for detecting a collision between a collision target and a vehicle; Collision state estimating means 2 for predicting whether a collision has occurred,
Which of the pedestrian protection device 8 and the occupant protection device 6 should be activated from the signal of the collision state estimation means 2, or which protection device should be activated in a vehicle having a plurality of occupant protection devices 6 or pedestrian protection devices 8 The operation selection means 4 determines whether the vehicle has collided with a pedestrian or another obstacle.

The collision detecting means 1 comprises a detecting section 11 and an amplifying section 12. The detection unit 11 is mounted in a bumper 100 provided at a front part of the vehicle, and detects a magnitude of a collision load, that is, a deformation amount of the part due to the collision.

The deformation of the bumper due to the collision is not uniform due to the state of the collision, for example, a frontal collision or offset collision with a vehicle, an elongated fixed obstacle such as a utility pole or a pole, and a pedestrian. Means 1
Is a means for detecting the uneven deformation as an average deformation.

The collision detecting means 1 is a collision detecting sensor for outputting an electric signal obtained by integrating the deformation force per unit vehicle width generated by the collision in the width of the collision object acting on the vehicle. This is a bumper collision deformation measurement type collision detection sensor that measures the deformation of the bumper over a large part of the vehicle width, and this detection method includes capacitance, fluid pressure, magnetic strength, electric resistance, circumference displacement, etc. It is realized by measuring each physical quantity.

Specifically, the detecting section 11 of the collision detecting means includes:
As shown in FIG. 2, the first shock absorber 111 is embedded in the first shock absorber 111 in the bumper 100.
A second shock absorbing material 112 is inserted between the second shock absorbing member 112 and the vehicle body frame 103.

The amplifying unit 12 is provided in the vehicle cabin or at a place similar to the collision state estimating means 2 in order to prevent damage at the time of a collision with the detecting unit 11 integrally with the detecting unit 11. A voltage is applied and the detected deformation is amplified.

The collision state estimating means 2 compares the change with time and the magnitude of the electric signal from the amplifying section 12 of the collision detecting means 1 with preliminarily prepared judgment reference data. Judge what it is.

That is, the collision state estimation means 2 stores the input signal sampled at a predetermined time interval.
A storage means 21, a second storage means 22 for storing determination reference data for comparison, etc., a comparison means 23 for ranking the collision strength, and a determination of a collision object, a selection of a protection device and an operation mode are determined. It consists of a judgment means 24 and the like.

When there are a plurality of protective devices or operating conditions, the operation selecting device 4 is a selecting device for determining which protective device or operating condition should be operated, and is provided at the subsequent stage of the collision state estimating device 2. . This is not necessary in the case where the signal of the collision detection means 1 is configured to be able to be determined by each protection device.

The protection device protects the occupant and the pedestrian at the same time, or one of them. The pedestrian protection device 8 deploys an air bag on the hood 101 and collides with the head of the pedestrian. The occupant protection device 6 includes an airbag disposed on a steering wheel or a dashboard (not shown) or on the side of the occupant to protect the occupant by absorbing the impact of the chest or the like.

The operation of the vehicle collision discriminating apparatus according to the first embodiment having the above configuration will be described in detail below.

The deformation of the front part of the vehicle caused by the collision is detected by the collision detecting means. The magnitude of the shape change depends on the rigidity around the detection unit 11 and the detection unit, and the detection sensitivity depends on the magnitude of the shape change.

FIGS. 3A and 3B show an example of a modification of the detection means 1 caused by a collision with a vehicle and a pedestrian. The first shock absorbing material 111 in which the detecting means 1 is embedded is easily deformed even if a pedestrian collides,
It is made of a relatively soft urethane foam or the like that softens the impact acting on the pedestrian's leg. For this reason, even when the pedestrian's leg collides, some force acts on the collision detecting means, and the detecting means is deformed in a direction in which the pedestrian becomes thinner at the collision portion, and the collision can be detected.

The second shock absorbing member 112 serves mainly to reduce the impact on the vehicle body when colliding with the vehicle, and further serves to promote the deformation of the detecting portion. It is formed of urethane foam which is harder than the first shock absorber 111.

The output from the collision detecting means 1 is shown in FIG.
The output waveform differs depending on what collides as shown in FIG. This output is taken into the first storage means 21 of the collision state estimation means 2.

The second storage means 22 stores a reference value table, and one or more reference value tables are prepared for each vehicle speed.

In the comparing means 23, FIG.
As shown in FIG. 7, based on the time axis data stored in the first storage means 21, an appropriate collision strength rank is selected from the five ranks classified according to the degree of collision. The ranking is performed by comparing with the criterion data set for each vehicle speed.

In the first embodiment, as shown in the algorithm of FIG. 4, the output X of the collision detection means 1 reaches a predetermined level (threshold (Xr)) from a time T0 to a certain minute time Δ
T, that is, the increment (ΔX1) of the output value after a predetermined number of samplings is obtained, and when the increment is equal to or more than a predetermined level, the output value is compared with the four levels of the determination reference data. The minute time ΔT is desirably changed depending on the vehicle speed, and is set longer as the speed is lower. Then, as shown in FIG. 3, there is a possibility that the same collision strength rank (E) will be obtained with a light collision with a pedestrian only with ΔX1. Therefore, the collision strength “E” is further divided by 2 · ΔT to separate the collision with the pedestrian from the light rear-end collision.
The output change (ΔX2) after the time is compared. If the output change is positive, it is determined that the vehicle is a light rear-end collision. In this case, the occupant protection device that operates according to the determination 2 is set to the standby mode, and the occupant protection by secondary collision is prepared. to go into. If it is negative, it is determined that the pedestrian is the “pedestrian 1”, and the pedestrian protection device 8 is activated.
This captures the difference due to the mass of the collision object. Note that “2 · Δt” is preferably in the range of Δt to 5Δt.
The comparison between the output X of the collision detecting means 1 and the threshold Xr is as follows.
This is always performed for each sampling time, and if X is equal to or greater than Xr, the time To is added for each sampling time.

In the determination means 24, as shown in Table 1,
A matching determination number is selected by comparing the collision strength rank of the collision state obtained by the comparing means 23 with a determination map classified by vehicle speed rank. If there is one protection device, the determination number determines the operating condition, and a signal corresponding to the determination number is output to the protection device. For example, when the vehicle collides with the vehicle, the determination is “4”, and in this determination, 3-bit “100” is output as a digital signal. Also, when the vehicle collides with a pedestrian, the determination becomes “1”,
“001” is output.

[Table 1]

For example, an example of the judgment by the judging means 24 is shown in Table 1. Here, the judgment of the collision strength rank, which is the output rank of the collision detecting means 1, is made for each vehicle speed rank. A state is required. In this example, four vehicle speed ranks a, b, c, and d are arranged in ascending order of vehicle speed, and A, A are arranged in descending order of the total amount of bumper deformation due to collision.
There are five impact strength ranks of B, C, D, and E, and the collision state is determined from these two ranks.

The "determination 4" corresponds to a collision with a stopped vehicle or an oncoming vehicle, and is a severe collision in which the occupant protection device 6 needs to be operated urgently. At this time, the occupant protection device 6 operates in the emergency operation mode. This is when the rank of the collision strength is A and the vehicle speed ranks are a to c. This includes the case where the oncoming vehicle collides head-on while the vehicle is stopped.

The "judgment 3" corresponds to a case where the occupant protection device 6 such as an air bag is operated in the normal mode in response to an offset collision of about 1/2 or a rear-end collision at a relative speed of 20 to 40 km / h. This is when the rank of the collision strength is A and the vehicle speed rank is d, B and a to d, and C and a to c. "Judgment 2" is a rear-end collision with a relative speed of 20 km / h or less, 1/4
In response to the following offset collision or collision with a fixed object such as a telephone pole, it is necessary to operate the occupant protection device 6 such as an airbag slowly, and hold it for about 10 seconds assuming a secondary collision. There is a collision. When the collision strength rank is C, the vehicle speed rank is d, the collision strength is D, and the vehicle speed rank is a to d, or when the collision strength is E and the vehicle speed rank is d.

"Decision 1" corresponds to a collision with a pedestrian,
This is a collision that requires the pedestrian protection device 6 to be activated.
This is when the collision strength rank is E and the vehicle speed ranks are ac. Also, at this time, there is a possibility that the rear bumper has collided with a vehicle such as a truck having a high rear bumper.
Is set to the standby state. Then, when the acceleration output reaches a certain value or more, it is operated by the judgment function of only the occupant protection device 6. These determinations are reviewed at each sampling cycle, and the collision determination is repeated until the vehicle stops so that the operation of the protection device does not run short and the occupant finishes getting off.

The operation selecting means 4 is not particularly necessary when each protection device can determine the meaning of the output signal of the collision judging device. However, when it cannot be judged, an appropriate signal is given by the operation selecting means 4 to each protection device. Output to the device. For example, the pedestrian protection device 8 and the occupant protection device 6
For example, when one or any of a plurality is provided, the protection that needs to be activated to activate an appropriate protection device based on the collision number determined by the determination means 24 and the determination number indicating the collision state. It selects a device and outputs a signal to it.

The effect of the first embodiment of the vehicle collision discriminating apparatus having the above operation will be described in detail below.

The collision determination device for a vehicle according to the first embodiment estimates the collision object that has collided with the vehicle based on the detected deformation amount of the collision portion and the detected vehicle speed at the time of the collision. It is possible to estimate a collision target, that is, to distinguish a collision with a pedestrian, a collision with a vehicle, and a collision with other obstacles.

Further, the vehicle collision discriminating apparatus of the first embodiment uses the algorithm shown in FIG. 4 in which the temporal change of the electric signal as shown in FIG. Based on, it is configured to determine what is compared with the criteria data,
There is an effect that the distinction between a pedestrian and a vehicle or the like can be more accurately determined.

That is, an obstacle colliding with the bumper 100 is detected by the collision detecting means 1, and the collision strength differs depending on whether the colliding object is a person with a small mass or a heavy object such as a vehicle from the characteristics of the output change. Find the rank of As a result, the width and mass of the collision object can be roughly estimated, and which protection device should be operated and how can be determined according to the determination table shown in Table 1. As a result, the occupant or pedestrian protection device can be effectively operated.

Since the collision state can be detected only by the detection means 1 provided on the bumper 100, the collision object can be determined quickly, and the operating speed of the protection devices 6 and 8 is reduced, and the impact on the occupant by the protection device is reduced. The force can be reduced.

Since the detection sensitivity can be increased as compared with the detection of the conventional occupant protection device using an accelerometer, the pedestrian protection device can be operated in an accident at a low speed, or the occupant protection device such as an air bag can malfunction. In order to prevent the occupant protection device from being actuated up to a predetermined acceleration level, it is possible to take measures such as activating the occupant protection device or waiting immediately by detecting even a low impact. Therefore, the further pedestrian protection or occupant protection device can be appropriately operated, and the impact force of the pedestrian and the occupant due to an accident can be reduced.

Further, the collision discriminating apparatus of the first embodiment can detect the vehicle at an early stage and accurately instruct the operating conditions of the protective apparatus even in a vehicle equipped with only the occupant protection apparatus. The deployment of the device is kept to a minimum. Thereby, the impact force received by the occupant by the airbag operation can be minimized. The bumpers described in the first embodiment include those that come into contact at the time of a collision near the frontmost portion of the vehicle body.

(Second Embodiment) The collision detection device for a vehicle according to the second embodiment is different from the first embodiment in that the collision detection means and the first storage means are each constituted by two as shown in FIG. This is a difference from the first embodiment. That is, the collision detecting means comprises a first collision detecting means 11A and a second collision detecting means 11B.
And the detection units 113 and 114 and the amplification unit 1 respectively.
21 and 122 are provided.

As shown in FIG. 6, each of the collision detecting means is mounted in a shock absorbing member 111 in a bumper provided in a front part of the vehicle, and the first collision detecting means 11A is provided in the frontmost part and the second detection part. Means 11B is disposed on the front end of the body frame 103 at the rear end of the bumper.

The collision state estimating means 2 comprises the amplifying sections 121, 12 of the first or second collision detecting means 11A, 11B.
7 is compared with the reference data based on the discrimination algorithm of FIG. 8 which has been created in advance to determine what has collided. An eleventh storage unit 211 that stores an output of the first collision detection unit 11A as an input signal having a predetermined time width,
A twelfth storage unit 212 that stores the output of the second collision detection unit 11B as an input signal having a predetermined time width, a second storage unit 22 that is connected to the vehicle speed sensor 3 and stores comparison data corresponding to the vehicle speed, And determination means 24.

The vehicle collision judging device according to the second embodiment having the above-described structure first detects the deformation of the front portion of the vehicle caused by the collision by the first collision detecting means 11A. The two collision detecting means 11B also detects the collision. The shape change and the magnitude of the output of the detection unit change depending on the rigidity of the shock absorber around the detection unit and the detection units 113 and 114.

The first collision detecting means 11A is embedded near the forefront of the bumper 100 and has a high sensitivity for detecting a pedestrian collision. The second collision detecting means 11B is a member having high rigidity capable of detecting only a collision of a heavy object such as a vehicle, and has a low detection sensitivity. For this reason, when a pedestrian collides, the detection is not performed or the detection is extremely small. This second
It is desirable that the collision detecting means 11B determine the rigidity of the shock absorbing member 11 and the collision detecting means so as not to detect a collision object such as a pedestrian.

The first and second collision detecting means 11A,
The output from 11B is as shown in FIG. 7, and the output waveforms to both means are set different depending on what collides.

For example, assuming that the strut and the pedestrian have the same thickness, both have characteristic outputs. Although both the first collision detecting means 11A have the same output, the second collision detecting means 11B is a pedestrian, since the foot is jumped up by the bumper of the vehicle, so that the second collision detecting means 11B is deformed. No deformation of the bumper.

On the other hand, since the column is fixed to the ground such as a road, the column locally deforms to the second collision detecting means 11B. For this reason, the output of the first and second collision detecting means is relatively small for a fixed object such as a column and is output to both. These outputs are output from the first
First, they are taken into the twelfth storage means 211 and 212. In these storage means, new output data is always stored for a predetermined time, and output changes during that time are stored.

The second storage means 22 stores reference data provided for each vehicle speed range and a reference value table such as a determination map for determining the operating condition of the protection device. This discrimination reference data is stored in the eleventh and twelfth storage means 21.
1, 212 are stored as data for ranking collision strength. In addition, one or a plurality of discrimination maps can be prepared for each vehicle speed rank.

The comparing means 23 uses the criterion data stored in the second storage means 22 as shown in FIG. 7 and based on the time axis outputs stored in the eleventh and twelfth storage means 211 and 212. The eleventh storage means 2
The data from 11 are divided into 4 ranks, and the data from the twelfth storage means 212 are classified into 5 ranks of collision strength based on the algorithm shown in FIG.

The ranking is performed by comparing with a table of judgment reference values set for each vehicle speed. In the second embodiment, the maximum output value within a predetermined time is obtained from the time when the output of the first collision detection means 11A reaches a predetermined level (threshold), and is compared with three or four levels of the judgment reference level. Done. However, a case of a light rear-end collision in which the maximum value of the output of the first collision detection unit 11A is the same and there is no output to the second collision detection unit 11B is assumed, and this is separated from the collision with the pedestrian. As in the embodiment, it is further determined whether or not the output decrease after reaching the maximum value is within a predetermined time. The threshold value is set higher as the vehicle speed is higher.

In addition to the above, there is also a method of judging that a pedestrian can be judged when the time until the maximum value after the output exceeds the threshold value is shorter than a predetermined time, and a light rear-end collision can be judged when the output is longer. That is, a light rear-end collision has a low relative speed, and the time at which the output is maximized is also delayed. Note that such determination may be the same as in the first embodiment.

In the determining means 24, the first collision strength rank and the second collision strength rank in the collision state obtained by the comparison means 23 are set for each vehicle speed rank and stored in the second storage means 22. A determination number is selected according to the stored determination map as shown in Table 2.

[Table 2]

For example, the determining means 24 divides the current vehicle speed into vehicle speed ranks, opens a discrimination map for each vehicle speed rank, performs collation, and performs first and second collision detecting means 11A, 11A.
The determination state for the rank of the first or second collision strength that is the output rank of 1B is obtained. In this table, A, B, and A are in descending order of the total amount of deformation of the bumper surface due to collision.
A, b, c, d, e in descending order of the ranks of the four first impact strengths C and D, and the total amount of deformation in the depth of the bumper
There are five ranks of the second impact strength, and from these two ranks, the collision state is determined in five stages.

"Determination 4" corresponds to an offset collision or a rear-end collision, and is a case where the occupant protection device 6 is normally operated.
When the rank of the first impact strength is A and the rank of the second impact strength is c or d, the rank of the first impact strength is B, and the rank of the second impact strength is b to It will be the time of d.

"Determination 2" corresponds to the case where the occupant protection device 6 and the pedestrian protection device 8 are in standby operation, corresponding to a light obstacle such as a bicycle, a light vehicle, or a wheelchair. This is when the rank of the first impact strength is C and the rank of the second impact strength is e.

"Judgment 1" corresponds to a collision with a pedestrian,
The pedestrian protection device is activated. This is when the rank of the first impact strength is D and the rank of the second impact strength is e.

The vehicle collision judging device according to the second embodiment having the above-described operation compares the temporal change from the first and second collision detecting means with pre-created judgment reference data to cause a collision. Since it is configured to determine what the object is, it is possible to more accurately determine the distinction between a pedestrian and a vehicle or the like.

That is, an obstacle colliding with the bumper is detected by the first and second collision detecting means 11A and 11B.
The size and mass of a collision object such as a fixed pole, a telephone pole, or a heavy object such as a vehicle are estimated according to the determination table in Table 2.

In the second embodiment, the accuracy of discriminating a collision with a pedestrian is increased by the two collision detecting means 11A and 11B having different detection sensitivities as compared with the first embodiment. Thus, the pedestrian and occupant protection devices can be operated more effectively.

In particular, the second embodiment is characterized in that a collision object having a light weight per unit width can be accurately determined, such as a pedestrian or a wide and relatively lightweight bicycle.

(Third Embodiment) In a vehicle collision discriminating apparatus according to a third embodiment, as shown in FIG.
The difference from the first embodiment is that the determination result is corrected by the following.

This is an embodiment in which a case where the bumper 100 at the front of the own vehicle does not collide with the colliding vehicle or is partially displaced up and down and collides is used. Occurs in the event of a rear-end collision with a vehicle.

As shown in FIG. 9, the vehicle collision judging device of the third embodiment comprises a collision detecting means 1, a collision state estimating means 2 having a judgment correcting function, and a vehicle body acceleration sensor 5. is there.

The collision state estimating means 2 compares the temporal change of the electric signal from the amplifying section 12 of the collision detecting means 1 with reference data which has been prepared in advance to judge what is the collision. Things.

The collision state estimation means 2 has a first storage means 21 for storing the output of the collision detection means 1 and a second storage means for storing determination reference data and a determination map corresponding to the vehicle speed.
Storage means 22, comparison means 23 for determining a collision strength rank from the output signal of the first storage means 21, and comparison means 2
Determining means 24 for determining the operation mode of the protection device from the rank of the collision strength determined in 3 and the determination map;
An acceleration storage means 51 for storing the output of the acceleration sensor 5 as a digital signal via a high-pass filter and a low-pass filter (not shown), and an acceleration comparison means 52 for determining a vehicle deceleration rank from the output signal of the acceleration storage means 51
And a judgment correcting means 53 for correcting the judgment result by the acceleration.

In the vehicle collision judging device according to the third embodiment having the above-described configuration, the deformation of the front portion of the vehicle caused by the collision is detected by the collision detecting means 1, and the acceleration of the vehicle body is detected by the acceleration sensor 5.

The output from the collision detecting means 1 is taken into the first storage means 21 of the collision state estimating means 2, and the output from the vehicle body acceleration sensor 5 is taken into the third acceleration storage means 51. In these storage means, the data is stored for a predetermined time and stored as an output change during that time.

The second storage means 22 stores a reference value table comprising determination reference data and a determination map. One or more reference value tables can be prepared for each vehicle speed.

In the first comparing means 23, based on the time axis output of the bumper deformation stored in the first storage means 21, the five ranks of collisions are the same as those in Table 1 of the first embodiment. Divided into strength ranks. The determining means 24 determines the type or operating condition of each protection device from the rank of the collision strength determined by the first comparing means 21 as in the first embodiment.

In the acceleration storage means 51, the output from the vehicle body acceleration sensor 5 is fetched via a high-pass filter and a low-pass filter. In this storage means 51, an analog signal that has passed through a low-pass filter of about 2 kHz and a high-pass filter of 10 Hz is stored for two samplings, and data exceeding a threshold value and the next data are subjected to ranking. In the acceleration comparing means 52, based on the time axis output of the acceleration stored in the acceleration storage means 51, it is classified into four ranks of the vehicle deceleration rank according to the degree of collision.

The judgment correction means 53 corrects the judgment number obtained by the judgment means as shown in Table 3 to an appropriate one according to the vehicle body deceleration rank. However, the acceleration is output to the protection device 6 in the judgment mode of the judgment means until the acceleration reaches the threshold value.

[Table 3]

In the vehicle collision determining apparatus according to the third embodiment having the above-described operation, the collision detecting means 1 and the vehicle body acceleration sensor 5 determine an obstacle colliding with the vehicle.
Even in a case where bumpers do not collide with each other, for example, when a passenger car collides with a freight car, each protection device can be reliably operated. Thereby, the pedestrian and occupant protection devices 8 and 6 can be operated more effectively, and unnecessary operation is prevented.

For example, as shown in Table 3, the result determined by the determination means 24 of the collision state estimation means 2 is 4 to 0.
If so, the determination condition is corrected according to the magnitude of the vehicle deceleration caused by the collision.

For example, when the collision cannot be detected by the bumper due to the displacement of the collision position, such as when the judgment is “0”, the occupant protection device of “2” when the deceleration rank becomes “c” The mode is changed to the gentle operation mode of 6 or the emergency operation mode of the occupant protection device 6 of “4” when the deceleration rank becomes “a” which is extremely large.

When the pedestrian protection device 6 is in the operation mode as determined by "1", the occupant protection device 6 is turned off when the vehicle deceleration increases to some extent after the pedestrian protection device 6 is activated. Set the operation mode according to the deceleration. However, if the determination by the determination means 24 is large, such as "4", regardless of the result of the acceleration sensor 5, the emergency operation mode is set or the vehicle deceleration is extremely large, "a".
In this case, the emergency operation mode is set to "4" regardless of the determination by the determination means 24. This case is a case in which the vehicle collides with a pedestrian and then collides with a freight vehicle such as a dump truck.

(Fourth Embodiment) As shown in FIGS. 10 and 11, the vehicle collision discriminating apparatus of the fourth embodiment comprises three collision detecting means 1 and three first storage means. This is a difference from the first embodiment.

The first collision detecting means 11
A, second collision detecting means 11B and third collision detecting means 1
1C, each comprising a detection unit and an amplification unit. The purpose of arranging the plurality of collision detection means in this way is to specify the collision position and detect the size of the collision object in the vehicle width direction, thereby making it possible to appropriately operate the plurality of protection devices. Become.

As shown in the upper part of FIG. 10, each of the collision detecting means is mounted in a shock absorbing member 111 in a bumper provided at a front portion of the vehicle, and a first collision detecting means 11A is provided at a central portion. The lower side, the second detecting means 11B is disposed on the upper right side, and the third detecting means 11C is disposed on the left upper side.

As shown in FIGS. 10 and 11, the first collision detecting means 11A vertically overlaps the second or third collision detecting means 11B and 11C in the I region or the G region. The second and third collision detecting means 11
The interval between B and 11C is equal to or greater than the thickness of the utility pole, and is arranged so that the type of pole such as a utility pole and the collision position can be determined.

As shown in FIG. 10 and FIG. 11, the collision state estimating means 2 changes the electric signal from the amplifier 121, 122, 123 of the first, second or third collision detecting means with time. Is compared with reference data created in advance to determine what is the collision.

The collision state estimating means 2 includes an eleventh storage means 211 for storing the output of the first collision detecting means 11A as an input signal having a predetermined time width, and an output of the second collision detecting means 11B for a predetermined time width. A twelfth storage means 212 for storing as an input signal, a thirteenth storage means 213 for storing an output of the third collision detection means 11C, a second storage means 22 for storing determination reference data and a determination map, and a comparison means. 23 and determination means 24. If the protective device has a sufficient judgment function, the operation selecting means 4 shown in the figure is unnecessary.

The vehicle collision judging device according to the fourth embodiment having the above-described structure detects the deformation of the front portion of the vehicle caused by the collision by the first, second, and third collision detecting means 11A, 11B, 11B.
C is detected by at least one of C. That is, the first or second or third or first and second or first and third or first, second or third collision detecting means is used for detection.

The magnitude of the shape change depends on the rigidity of the detecting section of the collision detecting means and the shock absorbing material 111 around the detecting section, as in the previous embodiments. The first collision detecting means 11A and the second or third collision detecting means 11B or 11C are arranged in an appropriate overlapping state,
The length of the overlap and the distance between the second and third collision detecting means are set to be equal to or greater than the thickness of the utility pole.

The first, second and third collision detecting means 11
The outputs from A, 11B, and 11C are the same as those in FIG. 3 of the first embodiment, and the output waveforms are different depending on what collides, and are different between the first and second or third. These outputs are output from the eleventh, twelfth,
The data is taken into the thirteenth storage means 211, 212, 213. These storage means store data for a predetermined time. The second storage means 22 is the same as in the previous embodiments.

In the comparing means 23, as shown in FIG. 10, eleventh, twelfth and thirteenth storage means 211,
Based on the time axis outputs stored in the storage units 212 and 213, the ones from the eleventh, twelfth and thirteenth storage means indicate the first, second and third collision strengths of the four ranks according to the degree of collision. Divided into ranks. The ranking is performed by comparing with the judgment reference data set for each vehicle speed.

In the determination means 24, the comparison means 23
The first rank of the collision strength of the collision state obtained in
Table 4 shows the judgment numbers that match the collision strength rank of the third collision strength and the third collision strength rank against the discrimination map stored in the second storage means 22 by being set for each vehicle speed rank.
Are selected from among six types as shown in FIG. The operating condition of each protection device is determined based on this determination number.

[Table 4]

Here, a method of estimating the collision position will be described. As shown in Table 4, the first collision detecting means 11A
10 is detected in only the center H region shown in FIG. 10, if detected in both the first and second collision detection units, is detected in the I region, and detected in both the first and third collision detection units. If it is detected, the area is a G area, if it is detected only by the second collision detection means, it is a J area on the right side, and if it is detected only by the third collision detection means, it is an F area on the left end.

Although a pedestrian or a utility pole is not included in a plurality of areas, an output is detected in a plurality of areas in a collision with a vehicle. Then, the size and mass of the collision object can be estimated from the relationship with each collision strength rank. The example shown in Table 4 is
The same collision strength rank is used for detection over a plurality of areas, but this is the case of a method of selecting the collision strength of the site where the collision is most severe.

For example, “judgment 6” corresponds to a collision with a small offset with a stopped vehicle or an oncoming vehicle, and
The rank of the collision strength of No. 3 is A, and the collision area is F ~ J, F ~
In the case of I, G to J, or the first to third collision strength ranks are B, and the collision regions are FG, I to J. In this case, a signal is output to the occupant protection device to operate it in the emergency operation mode.

"Determination 5" corresponds to about 1/2 of an offset collision or rear-end collision, and the first to third collision strength ranks are B, and the collision areas are F to J, F to H, and H to J. Or the ranks of the first to third collision strengths are C, and the collision areas are FG and IJ. In this case, a signal is output to the occupant protection device to operate it in the normal operation mode.

"Decision 4" corresponds to a relatively slight rear-end collision, in which the first to third collision strength ranks are C and the collision area is F
~ J, F ~ H, H ~ J. In this case, a signal is output to the occupant protection device to operate the device in the gentle operation mode.

"Determination 3" corresponds to a collision with a thin fixed object such as a telephone pole. The first to second or third collision strength ranks are C, and the collision areas are F, G, H, I, It's J time. In this case, a signal is output to the head-on collision occupant protection device to operate it in the gentle operation mode and the side-collision occupant protection device in the standby operation mode.

"Determination 2" corresponds to a collision with a light vehicle such as a bicycle. The first to third collision strength ranks are D, and the collision areas are FG, GH, HI, It will be the time of I-J.
In this case, a signal is output to the pedestrian protection device to operate the device in the standby operation mode. At this time, the fall prevention device from the vehicle operates according to the signal of the collision detection sensor on the hood.

"Determination 1" corresponds to a collision with a pedestrian,
The rank of the first to second or third collision strength is D,
The collision area is one of F, G, H, I, and J. In this case, a signal is output to the pedestrian protection device to activate the device.

The vehicle collision determining apparatus according to the fourth embodiment having the above-described operation is capable of detecting obstacles that collide with the bumper in the first, second, and third order.
The size and mass of the collision object such as a person or a heavy object such as a vehicle, and the collision position are detected by the third collision detection means 11A, 11B and 11C. It is estimated according to the judgment table shown in FIG.

In the fourth embodiment, the collision position can be specified by three collision detecting means having almost the same detection sensitivity as compared with the first embodiment, so that the accuracy of the collision determination between the vehicle and the pedestrian is improved. Get higher. In addition, the accuracy of estimating the offset amount of the colliding vehicle or the like is improved.

As a result, the protection devices for pedestrians and occupants can be operated more effectively, and only the minimum necessary protection devices can be operated. Note that the collision detection means may not have an overlap, but by adding an overlap, the resolution of the detection position can be reduced to about 1/3 to 1/5 of the vehicle width.
To improve.

(Fifth Embodiment) As shown in FIGS. 12 to 15, a vehicular collision determining apparatus according to a fifth embodiment is similar to that of FIG.
Collision detection means 1 as a detection unit on a 00V bumper 100
Is mounted, a non-compressible fluid is sealed therein, and a collision sensing tube 2 as a room that can be deformed in response to a collision with a collision target.
F is formed, a pressure sensor 3 for detecting a pressure in the collision sensing tube 2F at the time of a collision with the collision target, and the collision detection tube according to the collision with the collision target detected by the pressure sensor 3 The determination means 5 includes a collision target estimating means 40 for estimating a collision target based on a pressure fluctuation signal corresponding to a pressure fluctuation in the 2F and a rising pattern of a pressure waveform caused by the collision of the collision target.

As shown in FIG. 12, the vehicle collision discriminating apparatus of the fifth embodiment includes a pedestrian and occupant protection device. It is configured to operate in a mode.

The collision detecting means of the fifth embodiment has a structure and a sensor arrangement as shown in FIGS. 13 to 15, and the collision sensing tube 2F is provided as shown in FIGS. 13 and 14. It has an elliptical or perfect circular cross section, and is embedded in the bumper 100 so as to extend in one vehicle width direction as shown in FIG. One pressure sensor 3F is disposed in the section, and the pressure sensor 3F is configured to detect a change in internal pressure in the collision sensing tube 2F.

As shown in FIGS. 13 to 15, the collision sensing tube 2F is provided with a hard shock absorbing material 11F for absorbing the impact of a vehicle collision inserted in the bumper 100.
And a soft shock absorber 12 for cushioning the impact of the pedestrian's leg
And F.

The collision sensing tube 2F is made of a highly airtight and flexible tube so that the surface of the flexible tube is made of a fibrous reinforcing material (blade) so that the elongation in the circumferential direction and in the axial direction with respect to the change in internal pressure is minimized. Covered by This extension in the circumferential direction and in the axial direction reduces the sensitivity of the collision sensing tube, and must be minimized under conditions that do not impair the deformation of the tube in the vehicle longitudinal direction.

The collision detecting tube 2F is configured so as to be able to accurately detect a collision even in a weak and narrow range where a pedestrian collides with the detection unit of the collision detecting means 1 as described above. Have been.

As shown in FIG. 12, the judging means 2 comprises a pressure sensor 3F for detecting a pressure change in the collision sensing tube 2F of the collision detecting means 1, and an acceleration sensor 201 for detecting the acceleration of the vehicle body. Sampling means 2 connected to a vehicle speed sensor 3 for detecting the speed of the vehicle and sampling a detection signal at each sampling time
5, storage means 26 for storing various reference values, threshold values, and other data; sampling signals from the sampling means and various reference values stored in the storage means 26;
An arithmetic processing unit 27 having a function as a collision target estimating unit 40 for estimating the collision target and the collision strength by comparing the threshold value and the like, and a protection for selecting a protection device to be operated based on the estimated collision target And device selecting means 28.

The pedestrian protection control means 7 is connected to the protection device selecting means 28 as shown in FIG. 12, and when the collision target is estimated to be a pedestrian, the bonnet 101 is provided.
Is configured to output a control signal to an actuator 71 that swings clockwise.

The dual mode occupant protection device 6 is shown in FIG.
Is connected to the protection device selecting means 28, and is configured to output a control signal to activate a gas bag (not shown) when the collision target is estimated to be an obstacle or a vehicle. ing.

The collision discrimination algorithm of the vehicle collision discrimination device according to the fifth embodiment having the above configuration will be described with reference to FIG.

In step 1013, the collision detection output X from the sampling means 25 and the vehicle speed sensor 3
The vehicle speed Vc detected in step 10 is read, and step 10
At 23, a threshold value Xr, a determination time coefficient m, and a determination coefficient a based on the vehicle speed Vc read from the storage means 26 are read.

At step 1033, it is determined whether or not I is 1. When it is not 1, it is determined at step 1043 whether or not the collision detection output X from the sampling means 25 is larger than a threshold value Xr. Where T0 = T, X0 = X, I = 1
And put.

If the determination in step 1033 is 1, in step 1063 the data X from the collision detecting means 1 is integrated, and in step 1073, it is determined whether or not the time T exceeds T0 + m · Δt. If so, it is determined in step 1083 whether or not the integrated data $ X exceeds the reference value R.

If it has exceeded, at step 1093, at time T1 (= T0 + m) which is m times Δt from time T0.
.DELTA.t) is read as X1, and in step 1103, the signal change rate .DELTA.X1 (= X1-X
0) is calculated.

At step 1113, reference values of the collision levels 1 to 3 and acceleration... According to the vehicle speed Vc are read from the storage means. At step 1123, it is determined whether or not the signal change rate ΔX1 is less than level 1. In the case of level 1 or lower, the collision strength E is set to step 1133.
In, it is determined whether or not the vehicle speed Vc exceeds the reference vehicle speed Vr, and if so, the pedestrian protection mode is determined and the determination result is output.

If the signal change rate ΔX1 is not at or below level 1, it is determined at step 1143 whether or not the signal change rate is at or below level 2. If the signal change rate ΔX1 is at or below level 2, it is determined as collision strength D that the vehicle has collided with a fixed support or the like. The occupant protection mode is determined, and the determination result is output.

If the signal change rate .DELTA.X1 is not at or below level 2, it is determined at step 1153 whether or not it is at or below level 3. If the signal change rate .DELTA.X1 is at or below level 3, the occupant protection mode corresponding to the collision strength is set as the collision strength C. And outputs the determination result.

If the signal change rate ΔX1 is equal to or higher than level 3, at step 1163, n · Δ
The vehicle acceleration Y at time T2 after t is read as Y2.

At step 1173, it is determined whether or not the read vehicle acceleration data Y2 exceeds the acceleration level. If not, the collision strength C is set as the collision strength C in the occupant protection mode corresponding to the collision strength. Make a decision,
Output the judgment result.

If the vehicle body acceleration data Y2 exceeds the acceleration level, in step 1183,
It is determined whether the vehicle body acceleration data Y2 exceeds the acceleration level. If not, the occupant protection mode according to the collision strength is determined as the collision strength B.
Output the judgment result.

If the vehicle body acceleration data Y2 exceeds the acceleration level, the occupant protection mode according to the collision strength is determined as the collision strength A, and the determination result is output.

FIG. 17 and FIG. 18 show pressure waveforms detected by the collision detecting means 1 and outputted for each representative collision object (colliding object). FIG. 17 shows a collision with a pedestrian, an offset collision with a vehicle, or a head-on collision with a vehicle, which is m · Δt after the threshold value is exceeded by the collision object (sampling after m times: Δt is a sampling cycle). The difference in the collision detection output at time T1 is shown. FIG. 18 shows the output at the time of a collision between a pedestrian and a telephone pole that is elongated in the vertical direction, and a difference is recognized in the magnitude of the output X1 at the time T1.

The vehicle collision judging device of the fifth embodiment having the above operation is characterized in that the collision intensity is judged from both the pressure signal output from one pressure sensor 3 at the time of the collision and the vehicle acceleration. There are features.

The vehicle collision judging device according to the fifth embodiment is designed to reduce the time required to start the operation of the occupant protection device as early as possible.
The collision strength is classified into three levels (E, D, C) from the output (pressure signal) of the collision detection means at one time. If the collision level is 3 or more (collision strength C), a command is issued to protect the occupant. This has the effect that the device can be deployed with minimum power.

Further, the vehicle collision discriminating apparatus of the fifth embodiment reads the vehicle acceleration at the time T2 when the vehicle is greatly deformed by the collision and the vehicle acceleration is increased.
The collision strength is reviewed from the acceleration, and the collision strength is determined in three stages (C, B, A). Therefore, the collision strength at the time T2 is larger than the collision strength C determined at the time T1 (C). In the case of B or A), a command is issued to increase the magnitude of the developed power output of the occupant protection device, and the effect that the operation of the dual mode occupant protection device is enabled is achieved.

Further, in the vehicle collision determining apparatus according to the fifth embodiment, the operation is started at a timing earlier than the conventional method in which the final operation of the occupant protection apparatus is determined only by acceleration as in the prior art. As a result, airbags and the like can be operated with low power. As a result, it is possible to reduce the effect of unnecessary acting force or impact force on the occupant.

(Sixth Embodiment) In a vehicle collision judging device according to a sixth embodiment, as shown in FIG. 19, a collision detecting means includes one collision sensing tube 2F and two pressure sensors 31, 32.
That is, the first embodiment is different from the first embodiment in that the first and second pressure sensors 31 and 32 are arranged on both sides of the collision sensing tube 2F. The following description will focus on the differences.

The sensor arrangement in the sixth embodiment is for estimating the collision position and the collision object from the time difference between the outputs of the first pressure sensor 31 and the second pressure sensor 32 and the magnitude of the rate of change.

The propagation speed of the pressure varies depending on the rigidity of the collision sensing tube 2F and the shock absorbing material around the tube, but is approximately 50 to 300 m / s. Therefore, assuming that the width of the collision sensing tube 2F is 1.5 m, the propagation time between them is 0.03 to 0.005 seconds.
Of course, the amplitude of the pressure attenuates in inverse proportion to its propagation time, as shown in FIG. The filler is preferably an incompressible fluid.

FIGS. 20 and 21 show a modification of the sensor arrangement of the sixth embodiment. Two pressure sensing tubes 21F and 22F extend vertically above and below the collision site, and two pressure sensors 31 and 22 are disposed. 32 on each different side. This also has the same result as that of FIG. 19, and the length of the collision sensing tubes 21F and 22F is set to 2
With / 3, the accuracy of determining the collision position in the vehicle width direction is further improved.

FIGS. 22 and 23 show a modification of the collision detecting means of the sixth embodiment comprising a plurality of collision detecting chambers (extendable and contractible chambers) and a pressure sensor. In this modification, five detection units 2A to 2E are provided, and each detection unit is in contact with a sheet-like backing plate 2F made of a flexible resin or the like.

The abutment plate has a function of sufficiently detecting even a vertically elongated collision object between the detection units by the detection units on both sides of the collision area. Further, both sides thereof are such that the influence of the collision has little or no effect. The telescopic chamber is filled with a compressible fluid such as nitrogen gas that flexibly receives an acting force against the axial compression of the chamber. However, an incompressible liquid may be used as long as the expansion chamber has high elasticity in the radial direction.

FIGS. 24 and 25 show output waveforms of each pressure in the sensor arrangement of the embodiment and the modification of FIG. 19 or FIGS. 20 and 21 in a typical collision mode.

FIG. 24 shows an example of a collision with a vehicle having a bumpy surface, and shows that the sensor that first exceeds the threshold is not always high at the next sampling time T1. Therefore, it is necessary to compare the magnitude of the output again at the time T1, and it is necessary to evaluate the larger one.

FIG. 25 shows an example in which a pedestrian collides with the first pressure sensor side from the center, and a time delay and output attenuation occur on the second pressure sensor side.

FIG. 26 shows a collision discrimination algorithm corresponding to collision detection means in which two pressure sensors are arranged on both sides of a portion which is likely to collide.

According to this discrimination algorithm, the characteristics of the collision object can be accurately extracted from the pressure values of the two pressure sensors, and the protection device can be activated. The output of the first pressure sensor on the left side is XL, and the output of the second pressure sensor on the right side is XR, and the collision object is accurately estimated from the difference between the two outputs, time delay, and other characteristics.

First, when comparing whether or not the threshold value is exceeded, the higher one of the left and right sensor outputs is selected as X. At time T1, outputs XR from the two sensors
1, and XL1, and the increments from the time T0 are ΔXL and ΔXR. Further, the larger one of the increments is used as ΔX to determine the collision strength.

If ΔX is equal to or lower than level 1 and the collision strength is determined to be E, and if the vehicle speed Vc is lower than the threshold vehicle speed Vr in step 113, the monitoring mode routine is resumed without operating any protection device. Return. When traveling at a vehicle speed equal to or higher than Vr, in the case of the collision strength E, a collision with a pedestrian or a fixed pole such as an electric pole or a collision with a light vehicle may be considered. The larger of the output values after n times the time X
It is determined whether 2 is smaller or larger than a (<1.0) times the output X1 at the T1 time, and the collision object is determined to be a pedestrian, a fixed support, or the like based on the determination result.

When the pedestrian protection device and the occupant protection device are operated, the collision position is estimated from the outputs of the two pressure sensors according to a predetermined logic, and the necessary protection devices are properly operated.

In step 125, it is determined whether the signal change rate ΔX is equal to or lower than level 4. If the signal change rate ΔX is equal to or lower than level 4, the collision strength B is set as the collision strength B. The mode is determined, the determination result is output, and when the level is 4 or more, the mode of the occupant protection according to the difference between the two pressure sensor outputs and the collision strength is determined as the collision strength A, and the determination is performed. Output the result.

(Seventh Embodiment) The collision detection device for a vehicle according to the seventh embodiment is provided with the collision detection means shown in FIG. 27, and two different pressure switches 31 are provided in one collision sensing tube 2F. , 32 are attached, and the pedestrian and other collision objects are determined from ON and OFF of the switch circuits.

The operation table of one example of the collision determination shows that the first pressure switch 31 senses at a level higher than the level of a pedestrian's collision, that is, a collision with a heavy object such as a vehicle. It is set not to detect a collision with a heavy object such as a vehicle, but to detect a collision with a pedestrian.

Since the first and second pressure switches 31 and 32 are set as described above, the vehicle collision judging device according to the seventh embodiment is suitable for a vehicle running at a constant speed. This has the effect of making it possible to perform reliable discrimination at the lowest cost.

(Eighth Embodiment) The vehicle collision determination device of the eighth embodiment detects and stores the relative velocity (Vs) immediately before the collision with the colliding obstacle as shown in FIG. Is that the traveling direction velocity (Va) of the obstacle is calculated by
This is a difference from the above-described embodiment, and the following description will focus on the difference.

The collision object estimating means in the eighth embodiment differs from the above-described embodiment in that the vehicle body acceleration sensor 201
, A relative speed detection means 202 is provided, and the sampling means 25
It is connected to the.

In the eighth embodiment, the relative speed is taken in by the sampling means 25 instead of the vehicle body acceleration.
A feature is that the relative speed is stored in the storage means 26 for a predetermined time. This storage period is about 2 seconds because data from the time when the output of the collision detection means exceeds the threshold value to the data one second before is used.

The detection of the relative speed includes a radar system, an ultrasonic system, a laser beam system, and the like. Here, a radar system employed in an auto cruise control system for protecting a distance between vehicles is used as an example.

In the eighth embodiment, the differences from the collision determination algorithm in the above-described embodiment are mainly shown in FIG.
It will be described according to the following. At step 1413, it is determined whether or not the relative speed Vs detected by the relative speed detecting means 202 is higher than the reference vehicle speed Vr.

At step 1423, the traveling direction speed Va (= Vc−Vs) of the collision partner is calculated, and
At 113, the reference values of levels 1 to 4 corresponding to Vs at a predetermined time before T0 are read from the storage means.

In step 1123, the output change amount Δ
It is determined whether or not X is smaller than level 1, and if it is smaller, it is determined that the collision strength is E. In step 1433, it is determined whether or not the absolute value of the traveling direction speed Va of the collision partner is greater than the V0 level.

If it is small, the possibility of a light rear-end collision is small, and at step 1263, time T2 (= T1 + n · Δ
The output data at t) is read as X2, and at step 1243, the read output data X2 is
-It is determined whether it is smaller than X1.

That is, the collision discrimination algorithm according to the eighth embodiment utilizes information on the relative speed with respect to the collision object and the speed of the other obstacle calculated from the relative speed. The algorithm according to the eighth embodiment makes the distinction between the case where the vehicle collides lightly with the vehicle traveling ahead and the case where the vehicle collides with a pedestrian more clear. The main characteristic points are as follows.

The collision level is determined according to the relative speed immediately before the collision with the collision object. That is, an increase ΔX from time T0 at which the output tube X exceeds the threshold value of the output tube X of the collision detection means at time T1 is determined, and the collision strength is determined by comparing with a reference value corresponding to the relative speed. Is classified into five ranks A to E.

Further, the collision strength E is that the collision with the pedestrian and the fixed column is separated from the velocity Va immediately before the collision of the collision partner. If the speed of the opponent is not less than a certain level V0, other than a collision with a pedestrian or a fixed support, etc., it is determined that the vehicle is in a light rear-end collision. Since the level is not required, the mode is returned to the monitoring mode again.

In the vehicle collision determining apparatus according to the eighth embodiment having the above operation, the necessary protective device is operated at an appropriate speed by the determination according to the relative speed, that is, the traveling speed, as described above. It has the effect of protecting pedestrians most safely. In particular, it is possible to prevent an erroneous operation when an output of the collision detection means close to a collision with a pedestrian is output due to a light rear-end collision with a vehicle or the like.

In other words, the collision detecting device for a vehicle according to the eighth embodiment can prevent a malfunction when the output of the collision detecting means close to a collision with a pedestrian is output particularly in a light rear-end collision with the vehicle. This has the effect of enabling the protection device to be more finely grained.

Further, in the vehicle collision discriminating apparatus of the eighth embodiment, if the vehicle body acceleration is taken in as information of the discriminating apparatus as in the fifth embodiment, further improvement of the discriminating accuracy can be expected.

The above-described embodiments have been described by way of example only, and the present invention is not limited to these embodiments. Those skilled in the art will recognize from the claims, the detailed description of the invention, and the drawings. Modifications and additions are possible without departing from the technical idea of the present invention.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a vehicle collision determination device according to an embodiment of the present invention and a first example.

FIG. 2 is a cross-sectional view of a different cross section showing the collision detection means of the present embodiment and the first example.

FIG. 3 is a cross-sectional view showing a collision state between a vehicle and a traveling person in the collision detection means of the present embodiment and the first example, and a diagram showing output waveforms thereof.

FIG. 4 is a flowchart showing an algorithm in a comparison unit and a determination unit according to the first embodiment of the present invention.

FIG. 5 is a block diagram showing a vehicle collision determination device according to a second embodiment of the present invention.

FIG. 6 is a cross-sectional view of a different cross section showing the collision detection means of the second embodiment.

FIG. 7 is a diagram showing output waveforms of first and second collision detecting means of the second embodiment.

FIG. 8 is a flowchart showing an algorithm in a comparison unit and a determination unit according to the second embodiment of the present invention.

FIG. 9 is a block diagram illustrating a vehicle collision determination device according to a third embodiment of the present invention.

FIG. 10 is a block diagram illustrating a vehicle collision determination device according to a fourth embodiment of the present invention.

FIG. 11 is a cross-sectional view showing different cross sections of a plurality of collision detecting means of the fourth embodiment.

FIG. 12 is a block diagram illustrating a vehicle collision determination device according to a fifth embodiment of the present invention.

FIG. 13 is a view A in FIG. 4 showing the collision detecting means of the fifth embodiment;
It is sectional drawing of the cross section which follows the -A line.

FIG. 14B shows the collision detection means of the fifth embodiment;
It is sectional drawing of the cross section which follows the -B line.

FIG. 15 is a cross-sectional view showing a collision detecting means extending over the entire bumper of the fifth embodiment.

FIG. 16 is a chart showing an algorithm of collision determination according to the fifth embodiment.

FIG. 17 is a diagram showing an output waveform of a typical collision object in the fourth embodiment.

FIG. 18 is a diagram showing an output waveform of an elongated collision object in the fifth embodiment.

FIG. 19 is a sectional view showing an arrangement of a pressure sensor of a collision detecting means in a vehicle collision determination device according to a sixth embodiment of the present invention.

FIG. 20 is a sectional view showing a modified example of the sensor arrangement of the sixth embodiment.

FIG. 21 shows a modified example of the sixth embodiment, abc of FIG.
It is sectional drawing which follows the d line.

FIG. 22 is a sectional view showing a modification of the collision detection means of the sixth embodiment.

FIG. 23 is a cross-sectional view showing a modification of the collision detecting means extending over the entire bumper of the sixth embodiment.

FIG. 24 is a diagram showing output waveforms at the time of a collision with a vehicle having a bumpy surface in the sixth embodiment.

FIG. 25 is a diagram showing an output waveform at the time of a collision with a pedestrian in the sixth embodiment.

FIG. 26 is a chart showing an algorithm of collision determination according to a modification of the sixth embodiment.

FIG. 27 is a sectional view showing an arrangement of a pressure sensor of a collision detecting means in a vehicle collision determination device according to a seventh embodiment of the present invention.

FIG. 28 is a block diagram illustrating a vehicle collision determination device according to a seventh embodiment of the present invention.

FIG. 29 is a chart showing an algorithm of collision determination according to the seventh embodiment.

FIG. 30 is a cross-sectional view illustrating a conventional collision detection device for an automatic guided vehicle.

FIG. 31 is a partial side view showing a conventional pedestrian protection safety device.

FIG. 32 is a partial side view showing a conventional hood airbag sensor system.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 collision detecting means 2 collision state estimating means 4 operation selecting means 7 occupant protection device 8 pedestrian protection device 2F collision sensing tube 3F pressure sensor 40 collision target estimating means

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI G01M 7/08 B60R 21/34 693 G01P 15/00 G01M 7/00 H

Claims (11)

[Claims] 1. A collision detection means mounted on a part of a vehicle for detecting a deformation amount of a collision portion deformed by a collision of the collision target with the vehicle, a collision amount between the detected deformation amount of the collision portion and the vehicle. And a collision target estimating means for estimating the collision target that has collided with the vehicle based on the vehicle speed at the time. 2. The collision object estimating device according to claim 1, wherein the collision object estimating means further estimates the collision object by comparing a temporal change of the deformation amount with pre-stored determination reference data. Vehicle collision determination device. 3. The deformation amount of the collision portion according to claim 1, wherein the collision target estimating means calculates a deformation amount of the collision portion from when the detected deformation amount of the collision portion reaches a threshold level to when a first minute time has elapsed. Find the first change of
A collision determining device for a vehicle, comprising first estimating means for estimating a collision target by comparing the first change with a reference value. 4. The collision according to claim 3, wherein the collision target estimating means determines that the amount of deformation of the detected collision portion is from when the first minute time elapses to when the second minute time elapses. A second change means for obtaining a second change in the amount of deformation of the portion and estimating a collision target from positive or negative with respect to the first change in the second change. Collision determination device. 5. The collision detection means according to claim 1, wherein the collision detection means includes a non-compressible fluid sealed therein, and a deformable room is formed in response to the collision with the collision target. The collision target estimating means is configured to detect the pressure in the room, and the collision target estimating means is configured to detect the collision of the collision target based on the pressure signal in the room corresponding to the collision with the collision target detected by the pressure detecting means. A collision discriminating apparatus for a vehicle, comprising: estimating means for estimating a collision target based on a rising pattern of a pressure waveform by the vehicle. 6. The pressure detecting means according to claim 5, wherein a body portion of the detecting portion mounted on a part of the vehicle is made of a hard material member, and a surface portion of the detecting portion is made of a soft material member. A collision determination device for a vehicle, wherein the room is formed in the front surface side member. 7. The collision object estimating means according to claim 1, wherein the collision object estimating means compares the detected deformation amount of the collision portion with a plurality of collision strength determination reference levels determined according to a vehicle speed and the like. A vehicle collision discriminating device for outputting a control signal enabling operation under an operation condition corresponding to a level of a collision strength. 8. The collision detection device according to claim 1, wherein the collision detection device arranges a plurality of collision detection devices having different detection characteristics at different positions of the vehicle, and A collision determination device for a vehicle, wherein a collision target and a collision strength are estimated based on presence / absence of an output and an output level. 9. The collision detection device according to claim 1, wherein the collision detection device includes a plurality of collision detection devices arranged so as to cover a plurality of regions defined in a width direction of the vehicle. A collision area, a size of a collision target, and a collision situation are estimated based on the presence or absence of an output of the collision detection means. 10. The vehicle according to claim 7, wherein the collision target estimating means outputs a control signal that enables operation based on an operation condition according to the estimated collision target and the collision strength. Collision determination device. 11. The apparatus according to claim 10, wherein a protection device that needs to be operated based on the estimated collision target is selected based on the control signal from the collision target estimation unit, and the estimated collision strength A collision determining device for a vehicle, comprising: an operation selecting unit that outputs an operation signal that enables an operation according to an operation speed or other operation conditions according to the selected protection device.