JP2016002898A - Vehicle collision control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular collision control apparatus capable of sufficiently reducing the total damages of both vehicles at collision in a case where its own vehicle cannot avoid a collision with another vehicle.SOLUTION: In a case where a subject vehicle is determined to be unable to avoid a collision with another vehicle, a vehicular collision control apparatus performs: predicting a total of damages due to the collision on the vehicle and the other vehicle respectively for plural collision modes with mutually different collision spots on the vehicle and the other vehicle, on the basis of speeds of the vehicle and the other vehicle and at least either of plural subject-vehicle collision spots predicted for the vehicle and plural other-vehicle collision spots predicted for the other vehicle; determining a collision mode with a total damages being the smallest of the plural collision modes on the basis of the prediction result; and controlling a travel of the vehicle so that the vehicle collide with the other vehicle in the determined collision mode with the minimum damages.

Description

  The present invention relates to a vehicle collision control apparatus.

  As a conventional vehicle collision control device, for example, in Patent Document 1, when a collision between vehicles is unavoidable, a vehicle that has been determined to have a lower speed collides with a vehicle that has been determined to have a higher speed. Thus, there is disclosed a vehicle control device that controls one of the vehicles, and controls the vehicle so that a collision part of the vehicle that is collided is removed from the cabin.

JP 2008-037313 A

  By the way, in the technique described in Patent Document 1 and the like as described above, in vehicle control, the speed of the vehicle on the collision side, the speed of the vehicle on the collision side, and the collision part of the vehicle on the collision side are as follows. Though considered, the collision part of the vehicle on the collision side was not considered. For this reason, depending on the type of collision, the damage to the vehicle on the collision side becomes large (for example, when the vehicle on the collision side collides with the vehicle on the collision side, etc.), There was a possibility that a situation that could not be sufficiently reduced occurred. Thus, in the prior art, when collision between vehicles is unavoidable, there is room for further improvement in terms of reducing the total damage of both vehicles at the time of the collision.

  The present invention has been made in view of the above circumstances, and when the own vehicle is inevitable to collide with another vehicle, the vehicle capable of sufficiently reducing the total damage of both vehicles at the time of the collision An object of the present invention is to provide a collision control device for a vehicle.

  The vehicle collision control apparatus according to the present invention includes a host vehicle periphery monitoring unit that monitors the periphery of the host vehicle, a host vehicle state monitoring unit that monitors the state of the host vehicle, the host vehicle periphery monitoring unit, and the host vehicle state. Collision determination that determines the possibility of a collision between the host vehicle and another vehicle existing around the host vehicle based on the monitoring result by the monitoring unit, and determines that the collision is inevitable when there is a collision possibility And the collision determination unit determine that the host vehicle is inevitable to collide with the other vehicle, and a plurality of vehicles predicted by the host vehicle and the speeds of the host vehicle and the other vehicle. The own vehicle caused by a collision with respect to a plurality of collision modes having different collision sites in the host vehicle and the other vehicle based at least on a vehicle collision site and a plurality of other vehicle collision sites predicted in the other vehicle. And a prediction unit that predicts the total damage in the other vehicle, a determination unit that determines a collision mode with the minimum total damage among the plurality of collision modes based on a prediction result by the prediction unit, and the determination And a control unit that controls the traveling of the host vehicle so that the host vehicle and the other vehicle collide with each other in the minimum collision mode determined by a unit.

  The vehicle collision control apparatus according to the present invention has an effect that the sum of damages of both vehicles at the time of collision can be sufficiently reduced when the host vehicle is inevitable to collide with another vehicle.

FIG. 1 is a schematic configuration diagram illustrating a vehicle collision control apparatus according to an embodiment. FIG. 2 is a diagram illustrating an example of a collision mode when the host vehicle collides forward with another vehicle. FIG. 3 is a diagram illustrating an example of a collision mode when the host vehicle collides sideways with another vehicle.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

Embodiment
With reference to FIG. 1, an example of the configuration of the vehicle collision control apparatus 1 will be described. FIG. 1 is a schematic configuration diagram illustrating a vehicle collision control apparatus according to an embodiment.

  A vehicle collision control apparatus 1 according to the present embodiment shown in FIG. 1 is mounted on a host vehicle 2, and typically, when a collision between the host vehicle 2 is inevitable, the host vehicle 2 and another vehicle are in a collision. The traveling of the host vehicle 2 is controlled so as to collide with a collision mode that minimizes the collision damage of both vehicles.

The vehicle collision control apparatus 1 of the present embodiment is based on, for example, the following (1) and (2).
(1) A system that reduces damage from the viewpoint of collision safety when it is determined that a collision is inevitable.

(2) A vehicle that includes a sensor that monitors a situation around the host vehicle 2 and that can perform collision avoidance control and collision damage reduction control by acceleration / deceleration, steering control, and the like when a danger is recognized.
More specifically, the vehicle collision control apparatus 1 typically includes the following components (A), (B), (C), (D), and (E).
(A) Vehicle periphery monitoring sensor (for example, radar, camera, laser, etc.).
(B) Collision avoidance determination ECU (for example, detection of shape, relative position, speed vector).
(C) Collision target type determination ECU (for example, the type, shape, direction, etc. of vehicles, pedestrians, etc. are determined).
(D) Collision damage calculation ECU (for example, collision damage calculation and control method selection are performed).
(E) Actuator (for example, brake, accelerator pedal (throttle), steering).

  Specifically, the vehicle collision control device 1 of the present embodiment is realized by mounting the components shown in FIG. As shown in FIG. 1, the vehicle collision control apparatus 1 includes a host vehicle periphery monitoring unit 3, a host vehicle state monitoring unit 4, a collision determination unit 5, a prediction unit 6, a determination unit 7, and a control unit 8. With.

  The own vehicle periphery monitoring unit 3 monitors the periphery of the own vehicle 2. The own vehicle periphery monitoring unit 3 includes the above-described component (A) own vehicle periphery monitoring sensor, and monitors the presence or absence of an external object around the own vehicle 2 by the own vehicle periphery monitoring sensor. . When the own vehicle periphery monitoring unit 3 detects an external object in the vicinity of the own vehicle 2, the peripheral object information such as the relative position, the relative traveling direction, the relative speed, and the shape of the external object with respect to the own vehicle 2. Is detected.

  The own vehicle state monitoring unit 4 monitors the state of the own vehicle 2. The own vehicle state monitoring unit 4 stores in advance information related to the own vehicle state monitoring sensors (speed sensor, acceleration sensor, etc.) including sensors provided in each part of the own vehicle 2, and information on the shape of the own vehicle 2 (own vehicle shape). It is comprised including DB (Data-Base) made. For example, the host vehicle state monitoring unit 4 detects host vehicle information such as the speed of the host vehicle 2 (host vehicle speed) and the acceleration of the host vehicle 2 (host vehicle acceleration) using the host vehicle state monitoring sensor.

  The collision determination unit 5 determines the possibility of collision between the host vehicle 2 and an external object based on the monitoring results by the host vehicle periphery monitoring unit 3 and the host vehicle state monitoring unit 4, and if the collision is likely, It is determined that it is inevitable. The collision determination unit 5 includes the above-described components (B) collision avoidance determination ECU and (C) collision target type determination ECU. More specifically, the collision determination unit 5 acquires peripheral object information (such as a relative position, a relative traveling direction, a relative speed, and a shape of an external object) from the own vehicle periphery monitoring unit 3 and from the own vehicle state monitoring unit 4 Own vehicle information (own vehicle speed, own vehicle acceleration, own vehicle shape, etc.) is acquired. And the collision determination part 5 is based on the acquired surrounding target object information and own vehicle information, for example, the relative position of the own vehicle 2 and an external object, or time until a collision (so-called TTC (Time-To-Collision: Contact margin time))) is calculated, and based on the calculated numerical value, it is determined whether or not the own vehicle 2 may collide with an external object of the own vehicle 2, and when it is determined that there is a possibility of collision, Even when vehicle control or the like is performed, it is determined whether or not the collision is inevitable.

  Here, the external object is a concept that includes other vehicles, pedestrians, roadside objects, and the like that exist around the host vehicle. In the present embodiment, the collision determination unit 5 determines that another vehicle among the external objects is a collision target, determines the possibility of collision between the host vehicle 2 and the other vehicle, and the collision is unavoidable. Assuming that it is determined that there is, the following processing is executed.

  When the collision determination unit 5 determines that the host vehicle 2 is inevitable to collide with another vehicle, the prediction unit 6 determines the speeds of the host vehicle 2 and the other vehicle and a plurality of vehicles predicted in the host vehicle 2. Based on at least a vehicle collision site and a plurality of other vehicle collision sites predicted in another vehicle, a plurality of collision modes in which the vehicle 2 and the other vehicle have different collision sites are different from each other in the own vehicle 2 and the other vehicle due to the collision. It predicts the total damage. The prediction unit 6 includes a part of the above-described component (D) collision damage calculation ECU. Here, the speed of the host vehicle 2 is the host vehicle speed included in the host vehicle information acquired from the host vehicle state monitoring unit 4. The speed of the other vehicle is calculated based on the relative speed of the other vehicle, the own vehicle speed, and the like included in the peripheral object information acquired from the own vehicle periphery monitoring unit 3.

  In the present embodiment, as the plurality of own vehicle collision portions and the plurality of other vehicle collision portions, for example, the following portions are predicted based on the own vehicle information and the peripheral object information by the prediction unit 6.

  Here, in a situation where the vehicle on the collision side is the own vehicle 2 and the vehicle on the collision side is another vehicle, the front surface of the own vehicle 2 collides with the side surface of the other vehicle. It becomes a collision form that collides forward. Therefore, in the collision mode in which the host vehicle 2 collides forward, the entire bumper portion of the front surface of the host vehicle 2 and a part thereof are predicted as the host vehicle collision site. As other vehicle collision sites, the side surface of the engine room portion on the front side of the other vehicle, the side surface of the cabin portion on the center side of the other vehicle, and the side surface of the trunk room portion on the rear side of the other vehicle are predicted.

  On the other hand, in a situation where the colliding vehicle is another vehicle and the collision vehicle is the own vehicle 2, the side surface of the own vehicle 2 is collided by the front surface of the other vehicle, that is, the own vehicle 2 is the side surface. It becomes a collision form to be collided. Therefore, in the collision mode in which the host vehicle 2 collides side-by-side, as the host vehicle collision site, the side surface of the engine room portion on the front side of the host vehicle 2, the side surface of the cabin portion on the center side of the host vehicle 2, and the host vehicle The side surface of the trunk room part on the rear side of 2 is predicted. In addition, as the other vehicle collision site, the whole and a part of the bumper portion in front of the other vehicle are predicted.

  And the prediction part 6 is based on the several vehicle collision site | part and several other vehicle collision site | part to be estimated, and own vehicle information, surrounding object information, etc. Damage reduction control patterns (that is, a plurality of collision modes) are calculated using various known methods.

  As an example of a plurality of collision modes, for convenience of explanation, when limited to the combination of the host vehicle collision site and the other vehicle collision site described above, for example, the collision modes 1 to 10 as shown in FIGS. Can be mentioned. FIG. 2 is a diagram illustrating an example of a collision mode when the host vehicle collides forward with another vehicle. FIG. 3 is a diagram illustrating an example of a collision mode when the host vehicle collides sideways with another vehicle. In addition, the collision form shown below in this embodiment is an example, and is not limited to this.

  As shown in FIG. 2A, the collision mode 1 is a mode in which when the host vehicle 2 collides forward, the entire bumper portion of the host vehicle 2 collides with the side of the engine room portion of the other vehicle. . As shown in FIG. 2B, the collision mode 2 is a mode in which when the host vehicle 2 collides forward, it is a part of the bumper portion of the host vehicle 2 and offset collision with the side surface of the engine room portion of the other vehicle. is there. As shown in FIG. 2C, the collision mode 3 is a mode in which when the host vehicle 2 collides forward, the entire bumper portion of the host vehicle 2 collides with the side surface of the cabin portion of the other vehicle. As shown in FIG. 2D, the collision mode 4 is a mode in which when the host vehicle 2 collides forward, the entire bumper portion of the host vehicle 2 collides with the side surface of the trunk room portion of the other vehicle. As shown in FIG. 2 (e), the collision mode 5 is a mode in which when the host vehicle 2 collides forward, it is an offset collision with a part of the bumper portion of the host vehicle 2 on the side surface of the trunk room portion of the other vehicle. .

  As shown in FIG. 3A, in the collision mode 6, when the own vehicle 2 collides sideways, the side of the engine room portion of the own vehicle 2 is fully overlapped with the entire bumper portion of the other vehicle. It is a form. As shown in FIG. 3B, in the collision mode 7, when the own vehicle 2 collides sideways, the side surface of the engine room portion of the own vehicle 2 is offset and collided with a part of the bumper portion of the other vehicle. It is a form. As shown in FIG. 3 (c), the collision mode 8 is a mode in which the side surface of the cabin portion of the own vehicle 2 is fully overlapped with the entire bumper portion of the other vehicle when the own vehicle 2 collides sideways. It is. As shown in FIG. 3 (d), the collision mode 9 is a mode in which the side surface of the trunk room portion of the own vehicle 2 is subjected to a full lap collision when the host vehicle 2 is subjected to a side collision. It is. As shown in FIG. 3 (e), in the collision mode 10, when the own vehicle 2 collides sideways, the side surface of the trunk room portion of the own vehicle 2 is offset collided with a part of the bumper portion of the other vehicle. It is a form.

  And the prediction part 6 performs evaluation judgment of the corresponding collision site | part for every some collision form as collision damage calculation. For example, for each of the collision modes 1 to 10 described above, the prediction unit 6 predicts the sum total of damage in the host vehicle 2 and other vehicles due to the collision. Specifically, in this case, the prediction unit 6 has a collision mode 3 (see FIG. 2 (c)) that is highly likely to cause damage to the occupant by colliding with the cabin portion among the collision modes 1 to 10. About the collision mode 8 (see FIG. 3C), compared to the collision mode 1-2, the collision mode 4-7, and the collision mode 9-10 that collide with the engine room part or the trunk room part other than the cabin part, Predicts that damage will increase.

  Here, the offset collision refers to a collision mode in which a load is applied only to a part of the front of the vehicle body. In the offset collision, the amount of deformation of the vehicle body tends to increase at the time of the collision, and thus the occupant's living space tends to decrease. Thus, since the offset collision is such that when the host vehicle 2 and another vehicle collide, a part of the front surface of the vehicle body of the host vehicle 2 collides with the other vehicle. Compared to a full lap collision that collides with another vehicle, the cabin portion that is the living space of the host vehicle 2 is more likely to be distorted and cause damage to the occupant during the collision. On the other hand, in a full lap collision, since the vehicle body receives all of the impact, the cabin portion is compressed evenly, so that the distortion is reduced, and the possibility of damage to the occupant is less than that of the offset collision. Of the collision modes 1 to 10, the prediction unit 6 has a collision mode 2 (see FIG. 2B) and a collision mode 5 (see FIG. 2 (b)) where the cabin portion is greatly distorted due to an offset collision and damage to the occupant is high. 2 (e)), collision mode 7 (see FIG. 3 (b)), and collision mode 10 (see FIG. 3 (e)), full-lap collision mode 1, collision mode 3-4, collision It is predicted that the damage will be greater than that in Form 6 and Collision Forms 8-9.

  Further, the degree of damage due to the collision also varies depending on the difference in the speed of the vehicle on the collision side and the speed of the vehicle on the collision side. For example, when the speed of the vehicle on the collision side is higher than the speed of the vehicle on the collision side (see FIG. 3), the kinetic energy of the vehicle on the collision side (the other vehicle in FIG. 3) Since it becomes larger than the kinetic energy of the vehicle (the own vehicle in FIG. 3), the damage of the vehicle on the collision side is likely to be greater than the damage of the vehicle on the collision side. When the speed of the vehicle on the collision side is larger than the speed of the vehicle on the collision side based on the speeds of the own vehicle 2 and the other vehicles (see FIG. 3), the prediction unit 6 It is predicted that the damage will be greater than when the speed is lower than the speed of the vehicle on the collision side (see FIG. 2).

  Furthermore, the degree of damage caused by the collision also varies depending on the difference in the mass of the vehicle on the collision side and the mass of the vehicle on the collision side. For example, when the mass of the vehicle on the collision side is larger than the mass of the vehicle on the collision side, the kinetic energy of the vehicle on the collision side becomes larger than the kinetic energy of the vehicle on the collision side. The damage to the vehicle on the other side is likely to be greater than the damage to the vehicle on the collision side. When the mass of the vehicle on the collision side is larger than the mass of the vehicle on the collision side based on the masses of the own vehicle 2 and the other vehicle, the prediction unit 6 collides the mass of the vehicle on the collision side. The damage may be predicted to be greater than when the vehicle is smaller than the vehicle on the side. Here, for example, the mass of the host vehicle 2 is calculated based on the host vehicle shape included in the host vehicle information acquired from the host vehicle state monitoring unit 4. The mass of the other vehicle is calculated based on the shape of the other vehicle included in the surrounding object information acquired from the own vehicle periphery monitoring unit 3.

  In addition, the degree of damage caused by the collision also varies depending on the collision direction of the vehicle on the collision side. For example, the prediction unit 6 may predict that the damage is greater as the angle formed by the collision direction of the collision vehicle and the traveling direction of the collision vehicle is closer to a right angle. Further, the prediction unit 6 may predict that damage is greater as the position of the passenger in the vehicle on the collision side is closer to the collision site. The position of the occupant is specified by, for example, an occupant detection unit that detects whether there is an occupant in each passenger seat of the vehicle. The occupant detection means includes, for example, a load sensor provided in each passenger seat, detects the presence of the occupant in each passenger seat based on the detection result by the load sensor, and detects the occupant in each passenger seat. It is possible to output passenger position information including the presence or absence of a passenger.

  In this way, the prediction unit 6 calculates the damage at the time of collision between the host vehicle 2 and the other vehicle to be collided for each of a plurality of collision modes (for example, the above-described collision modes 1 to 10). For example, as described above, the magnitude of damage at the time of the collision is calculated based on the shapes of the host vehicle 2 and other vehicles, the occupant, the collision direction, the speed, and the like. And the prediction part 6 calculates the numerical value corresponding to the magnitude | size of the predicted damage for every collision mode, and totals the calculated numerical value, respectively, and estimates the sum total of the damage in the own vehicle 2 and other vehicles by a collision, respectively. . The prediction unit 6 outputs the total result to the determination unit 7 as a prediction result.

  Based on the prediction result by the prediction unit 6, the determination unit 7 determines a collision mode with the smallest sum of damage among a plurality of collision modes. The determination unit 7 includes a part of the above-described component (D) collision damage calculation ECU. The determination unit 7 selects the control method based on the prediction result, and the summation result of the numerical value of the damage magnitude relating to the own vehicle 2 is the lowest and the numerical summation result corresponding to the damage magnitude relating to the other vehicle is obtained. The lowest collision mode is determined, and a control method for controlling the traveling of the host vehicle 2 is selected so that the host vehicle 2 and another vehicle collide with the determined collision mode.

  In the present embodiment, the determination unit 7 rejects the collision mode in which either one of the own vehicle 2 and the other vehicle is greatly damaged and the other damage is reduced, and damages both the own vehicle 2 and the other vehicle. Among them, the control method of the own vehicle 2 is selected which is a collision mode in which damage is relatively reduced.

  For example, for convenience of explanation, if the magnitude of damage related to the host vehicle 2 is three, large, medium, and small, and the magnitude of damage related to other vehicles is three, large, medium, and small, the determination unit 7 is: The collision mode in which the damage related to the own vehicle 2 is large and the damage related to the other vehicle is large is rejected. The determination unit 7 also rejects the collision mode in which the damage related to the host vehicle 2 is large and the damage related to the other vehicle is medium. The determination unit 7 also rejects a collision mode in which the damage related to the host vehicle 2 becomes medium and the damage related to the other vehicle becomes large. The determination unit 7 also rejects the collision mode in which the damage related to the host vehicle 2 is large and the damage related to the other vehicle is small. The determination unit 7 also rejects the collision mode in which the damage related to the host vehicle 2 is small and the damage related to the other vehicle is large. Thus, if at least one of the magnitudes of damage to the own vehicle 2 or the other vehicle is large, the determination unit 7 determines whether the occupant of either one of the two vehicles at the time of the collision. Even if the possibility of damage is low, there is a high possibility that the passenger of the other vehicle will be seriously damaged. Therefore, such a collision mode is rejected.

  On the other hand, as for the collision mode in which the damage related to the own vehicle 2 is medium and the damage related to the other vehicle is medium, the determination unit 7 is a collision type in which the total sum of damage is the minimum compared to the total collision type. The collision form is determined as a desired collision form. As mentioned above, this is more likely to cause some damage to the passengers of both vehicles than to the possibility of serious damage only to the passengers of either one of the vehicles at the time of the collision. This is because a possible collision mode is considered to be relatively appropriate considering damage reduction for passengers of both vehicles.

  In addition, the determination unit 7 also has a collision mode in which the damage related to the host vehicle 2 is medium and the damage related to other vehicles is small as long as the total damage is smaller than the total collision type. The collision form may be determined as a desired collision form. In addition, the determination unit 7 can reduce the damage related to the host vehicle 2 and the damage caused by the damage related to the other vehicle as long as the total damage is less than the total collision. The collision form may be determined as a desired collision form. It is desirable that the determination unit 7 determines the collision form as a desired collision form if the damage related to the host vehicle 2 is small and the collision form in which the damage related to the other vehicle is small can be selected.

  The control unit 8 causes the host vehicle 2 and the other vehicle to collide with each other in the desired collision mode determined by the determination unit 9 (that is, the collision mode with the least total damage among the plurality of collision modes). It controls the running of. When the collision determination unit 5 determines that the host vehicle 2 is inevitable, the control unit 8 is mounted on the host vehicle 2 so that the total damage determined by the determination unit 7 is the minimum collision mode. The above-described component (E) actuator is controlled to control the traveling of the host vehicle 2. Specifically, the control unit 8 sets the control amount (for example, the brake control amount, the accelerator pedal control amount, the steering control amount) of the actuator so that the total sum of damage determined by the determination unit 7 becomes the minimum collision mode. It calculates and controls traveling of the own vehicle 2 according to the control amount. Thereby, the control unit 8 controls the behavior of the host vehicle 2 so that the host vehicle 2 collides with another vehicle in a collision mode in which the total damage determined by the determination unit 7 is the smallest. When the collision determination unit 5 determines that the host vehicle 2 can avoid a collision, the control unit 8 controls the actuator of the host vehicle 2 to perform various known collision avoidance controls. It may be.

  The vehicular collision control apparatus 1 configured as described above, when the host vehicle is inevitable to collide with another vehicle, the speed of the vehicle on the colliding side, the speed of the vehicle on the colliding side, and the collision. In addition to the collision site of the vehicle on the other side, the collision site of the vehicle on the collision side is also considered, so for a plurality of collision modes with different collision sites in both vehicles, the sum of the damage in both vehicles due to the collision Can be predicted respectively. Accordingly, the vehicle collision control apparatus 1 according to the present invention determines a collision mode that minimizes the sum of damages in both vehicles among a plurality of collision modes based on the prediction result, and the vehicle in the determined collision mode. The traveling of the host vehicle can be controlled so that they collide with each other. As a result, according to the vehicle collision control apparatus 1 according to the present invention, even if the host vehicle is inevitable to collide with another vehicle, the total damage of both vehicles at the time of the collision can be sufficiently reduced. Can do.

  The vehicle collision control apparatus 1 according to the above-described embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope described in the claims.

  In the above description, the vehicle collision control apparatus 1 has the collision mode in which the sum of damage in the host vehicle 2 and other vehicles is minimized at the time of the front collision described in FIG. 2 and the side collision described in FIG. However, the present invention is not limited to this. For example, the control may be performed at the time of a rear collision in addition to a front collision or a side collision. In this case, for example, the collision control apparatus 1 for a vehicle distinguishes and determines a front collision, a side collision, and a rear collision, and after that, according to the direction of the collision, in a collision mode in which the sum of damage between vehicles is minimized. You may make it perform each process regarding the traveling control in the own vehicle 2 for colliding.

DESCRIPTION OF SYMBOLS 1 Vehicle collision control apparatus 2 Own vehicle 3 Own vehicle periphery monitoring part 4 Own vehicle state monitoring part 5 Collision determination part 6 Prediction part 7 Determination part 8 Control part

Claims (1)

The vehicle surroundings monitoring section for monitoring the surroundings of the vehicle;
A host vehicle state monitoring unit for monitoring the state of the host vehicle;
Based on the monitoring results by the own vehicle periphery monitoring unit and the own vehicle state monitoring unit, the possibility of collision between the own vehicle and other vehicles existing around the own vehicle is determined, and the A collision determination unit that determines that a collision is inevitable;
When the collision determination unit determines that the own vehicle is inevitable to collide with the other vehicle, the speed of the own vehicle and the other vehicle and a plurality of own vehicle collision portions predicted in the own vehicle And a plurality of other vehicle collision sites predicted in the other vehicle, and a plurality of collision modes in which the own vehicle and the other vehicle have different collision sites are different from each other in the host vehicle and the other vehicle due to a collision. A prediction unit that predicts the total damage,
Based on a prediction result by the prediction unit, a determination unit that determines a collision mode having the smallest sum of damage among the plurality of collision modes;
A control unit that controls travel of the host vehicle so that the host vehicle and the other vehicle collide with each other in the minimum collision mode determined by the determination unit;
Vehicle collision control device.

Images