Collision damage reduction device and collision damage reduction method
A collision damage reduction device of the present disclosure includes: a departure judgment unit which detects that a vehicle is in a departing state; a departing-state acceleration velocity determination unit which determines upper limits for an acceleration and a velocity of the vehicle, when the vehicle is in the departing state; and a control unit which controls the acceleration and the velocity of the vehicle on the basis of upper limits determined by the departing-state acceleration velocity determination unit. Even in a situation in which an obstacle is not detected, the departing-state acceleration velocity determination unit determines, as first upper limits, such upper limits for the acceleration and the velocity that do not cause serious damage even if the vehicle contacts with assumed said obstacle.
1 . A collision damage reduction device comprising at least one processor configured to implement:
a departure judgment circuitry which detects that a vehicle is in a departing state;
a departing-state acceleration velocity determinator which determines upper limits for an acceleration and a velocity of the vehicle, when the vehicle is in the departing state; and
a controller which controls the acceleration and the velocity of the vehicle on the basis of the upper limits determined by the departing-state acceleration velocity determinator; and
an obstacle contact detector which detects contact with any said obstacle, wherein
even in a situation in which an obstacle is not detected, the departing-state acceleration velocity determinator determines, as first upper limits, such upper limits for the acceleration and the velocity that do not cause serious damage even if the vehicle contacts with assumed said obstacle, and
when the obstacle contact detector detects contact with the obstacle, the departing-state acceleration velocity determinator determines the upper limits for the acceleration and the velocity that do not increase damage, as second upper limits that are not greater than the first upper limits.
2 . The collision damage reduction device according to claim 1 , wherein
the obstacle contact detector detects contact with the obstacle under a bottom of the vehicle by an abnormal torque of a vehicle tire.
3 . The collision damage reduction device according to claim 2 , further comprising a gradient information storage which stores gradient information at last-time stop of the vehicle, wherein
the obstacle contact detector detects contact with the obstacle when a difference arises between the gradient information stored in the gradient information storage and actual gradient information at start of departure and in the departing state.
4 . The collision damage reduction device according to claim 1 , wherein
the obstacle contact detector detects contact with the obstacle under a bottom of the vehicle by a torque difference between vehicle tires.
5 . The collision damage reduction device according to claim 1 , wherein
the obstacle contact detector detects contact with the obstacle in a vehicle advancement direction by a pressure-sensitive switch provided to a bumper of the vehicle.
6 . The collision damage reduction device according to claim 1 , further comprising a vehicle advancement direction obstacle sensor serving to improve detection performance for the obstacle in a vehicle advancement direction during traveling of the vehicle.
7 . The collision damage reduction device according to claim 6 , wherein
when the vehicle advancement direction obstacle sensor has detected the obstacle in the departing state of the vehicle, the departing-state acceleration velocity determinator determines the upper limits for the acceleration and the velocity as third upper limits not greater than the first upper limits.
8 . The collision damage reduction device according to claim 7 , wherein
the vehicle advancement direction obstacle sensor is a ranging sensor and serves to improve detection performance by change in a distance or a relative velocity with respect to the obstacle.
9 . The collision damage reduction device according to claim 7 , wherein
the vehicle advancement direction obstacle sensor is an imaging sensor and serves to improve detection performance by a difference in change in the obstacle and a background of the obstacle or by change in optical characteristics.
10 . The collision damage reduction device according to claim 1 , further comprising a moving object entry judgment circuitry which, in a case where a moving object around the own vehicle has entered into a certain range around the own vehicle during a stopped state and has not exited the certain range until departure, considers that the moving object has entered, wherein
when the moving object entry judgment circuitry has considered that the moving object has not entered, the departing-state acceleration velocity determinator clears the first upper limits for the acceleration and the velocity.
11 . A collision damage reduction method comprising:
detecting that a vehicle is in a departing state;
determining upper limits for an acceleration and a velocity of the vehicle, when the vehicle is in the departing state; and
controlling the acceleration and the velocity of the vehicle on the basis of the upper limits determined in the departing-state acceleration velocity determining,
detecting contact with any said obstacle, wherein
in the departing-state acceleration velocity determining, even in a situation in which an obstacle is not detected, such upper limits for the acceleration and the velocity that do not cause serious damage even if the vehicle contacts with assumed said obstacle are determined as first upper limits, and
in the departing-state acceleration velocity determining, when contact with the obstacle is detected, the upper limits for the acceleration and the velocity that do not increase damage, are determined as second upper limits that are not greater than the first upper limits.