JP3876110B2 - Vehicle collision determination device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle collision determination apparatus that determines a vehicle collision, and more particularly to a technique for determining a collision with a side surface of a vehicle.
[0002]
[Prior art]
Conventionally, a plurality of acceleration sensors that detect acceleration applied to the side of the vehicle are used to determine a collision from the side of the vehicle, such as a collision determination device disclosed in Japanese Patent Application Laid-Open No. 11-321548. It is placed inside and the output from each acceleration sensor is integrated over a predetermined period of time, and when these integrated values exceed a predetermined threshold value, it is determined that there is a collision. 2. Description of the Related Art A collision determination device that activates an ignition device such as a tensioner to inflate an air bag and winds a seat belt to protect an occupant is known.
In this collision determination device, when the interval integral value of the output of the acceleration sensor exceeds a predetermined threshold time between a predetermined lower threshold and an upper threshold, an oblique side collision that causes a slow vehicle movement is detected. Judgment is made, and collision determination is performed by distinguishing it from a side collision from almost right side that causes rapid vehicle movement.
The determination of the oblique side collision is made based on the interval integral value of the output of the acceleration sensor that is arranged at either the central part or the side part of the vehicle and is located in the vicinity of the collision occurrence point.
[0003]
[Problems to be solved by the invention]
By the way, in a side collision of a vehicle, for example, when a low-speed collision occurs in a portion having a relatively high rigidity compared to the vehicle body, such as a wheel of a tire, the deformation of the vehicle side hardly occurs. Lateral movement occurs. In this case, since the inertial movement of the occupant in the vehicle is small because of a low-speed collision, and even if the vehicle side surface is deformed, the displacement toward the occupant is small. It can be determined that there is no need to activate.
However, in such a low-speed collision at a portion with high rigidity, the interval integral value of the output of the acceleration sensor arranged in each part of the vehicle shows a relatively large change, and the vehicle side surface is greatly deformed, so that the occupant protection device is When it is desirable to start the vehicle, there may be a change similar to or more than the case of a side collision at a medium speed with respect to the vehicle body. For this reason, particularly in a short time after the occurrence of a collision, it may be difficult to clearly distinguish between a collision at a high-rigidity portion and a collision at a low-rigidity portion on the side of the vehicle.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle collision determination device capable of reliably performing a collision determination in a short time in a collision with a side surface of a vehicle.
[0004]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, a vehicle collision determination device according to the present invention (for example, a vehicle collision determination device 10 in an embodiment described later) is a vehicle width direction. A central acceleration detecting means (for example, a central acceleration sensor 21C in an embodiment described later) that detects acceleration acting in a direction intersecting with the front-rear direction of the vehicle. A plurality of side acceleration detection means (for example, a right side acceleration sensor 21R and a left side acceleration sensor 21L in an embodiment described later) and a central part acceleration detection means that are arranged in a section and detect the acceleration. Central acceleration (for example, central acceleration signal G in the embodiment described later) _C ) For a predetermined first time interval (for example, a time interval ΔT1 in an embodiment described later), a central acceleration integration means (for example, an integration processing unit 24C in an embodiment described later), and the plurality Among the side acceleration detection means, the collision part acceleration detected by the side acceleration detection means located in the vicinity of the collision occurrence point (for example, the collision side acceleration signal G in the embodiment described later) _S ) For a predetermined second time interval (for example, a time interval ΔT2 in the embodiment described later), a collision portion acceleration integration means (for example, an integration processing unit 24R or an integration processing unit 24L in the embodiment described later). ) And the central section integral value calculated by the central acceleration integration means (for example, the central section integral value V in an embodiment described later) _C ) And the collision part interval integral value calculated by the collision part acceleration integration means (for example, a collision side interval integral value V in an embodiment described later) _S ) And a difference calculating means (for example, a difference calculating unit 14 in the embodiment described later) for calculating a difference value (for example, a difference ΔV in the embodiment described later), the collision unit acceleration, and the collision unit interval integration It is characterized by comprising a collision determination means (for example, a collision determination unit 15 in an embodiment to be described later) that performs a collision determination based on the value and the difference value.
[0005]
According to the vehicle collision determination device having the above configuration, for example, the interval integral value of the output of the acceleration sensor arranged on the side portion on the collision side, and the interval integral value of the output of the acceleration sensor arranged in the center portion of the vehicle, By performing the collision determination based on the difference, it is possible to accurately determine whether or not an occupant protection device such as an air bag or a seat belt pretensioner should be activated.
For example, as shown in the figure showing the speed change in the relatively high-speed side collision shown in FIG. 1A, the speed change with respect to the acceleration sensor disposed on the side part on the collision side (the solid line V1 shown in FIG. 1A). ) Changes significantly compared to the speed change (in order, the dotted line V0 shown in FIG. 1A) for the acceleration sensor arranged at the center of the vehicle, the occupant protection device needs to be activated. It can be determined that a collision has occurred.
Furthermore, even if the speed change for each acceleration sensor becomes relatively small, as shown in the diagram showing the speed change in the relatively medium speed side collision shown in FIG. The speed change (according to the solid line V1 shown in FIG. 1B) with respect to the acceleration sensor arranged at the side of the vehicle is the speed change with respect to the acceleration sensor arranged at the center of the vehicle (in order, the dotted line V0 shown in FIG. 1B). Therefore, it can be determined that a side collision requiring the activation of the occupant protection device has occurred.
[0006]
Further, even when the speed change for each acceleration sensor is relatively large, for example, as shown in the figure showing the speed change in the relatively low-speed side collision at the highly rigid position shown in FIG. The change in speed with respect to the acceleration sensor arranged on the collision side (solid line V1 shown in FIG. 1C) and the change in speed with respect to the acceleration sensor arranged in the center of the vehicle (in order of FIG. 1C). When the dotted line V0) indicates a substantially similar change, the difference in speed change due to the position of the acceleration sensor is reduced. Accordingly, the difference between the integral values of the acceleration sensors arranged at different positions inside the vehicle is used as a parameter indicating the degree of deformation of the vehicle, and a predetermined threshold value, for example, a value that eliminates low-speed side collision at a highly rigid position. For example, the vehicle side slip state that does not require activation of the occupant protection device and the side collision state at medium speed or high speed that requires activation of the occupant protection device can be performed in a short time. It is possible to easily and reliably identify and perform a collision determination.
[0007]
further, Claim 1 In the vehicle collision determination device according to the present invention, the collision determination unit includes at least one or more predetermined threshold accelerations set for the collision part acceleration (for example, threshold acceleration G in an embodiment described later). _TH , First threshold acceleration G _TH1 And second threshold acceleration G _TH2 ) And a collision part acceleration determination means (for example, an acceleration comparison in an embodiment to be described later) that determines which of the plurality of acceleration regions is divided by the predetermined threshold acceleration as a boundary. Unit 33, step S08, step S21, step S23), and a plurality of predetermined threshold collision units set according to the determination result by the collision unit acceleration determination means with respect to the collision unit interval integral value and the difference value. Interval integral values (eg, interval integral values α, ρ in the embodiment described later, first to third interval integral values) and threshold difference values (eg, difference values β, ω, λ, 1 to 3rd difference value), and the collision part interval integral value exceeds the predetermined threshold collision part interval integral value As If the difference value exceeds the predetermined threshold difference value, Or A determination means for determining a collision when the collision part interval integral value exceeds the predetermined threshold collision part interval integral value or when the difference value exceeds the predetermined threshold difference value (for example, described later) Step S09, step S11, step S12, step S22, step S24, step S25) in the embodiment is provided.
[0008]
According to the vehicle collision determination device having the above configuration, first, the collision mode generated by the magnitude of the collision unit acceleration is identified, and the threshold collision unit interval integral value set individually for each identified collision mode. The collision is determined based on the threshold difference value.
In this case, according to each collision mode, the determination condition is set when both the collision part interval integral value and the difference value exceed a predetermined threshold (that is, the threshold collision part interval integral value and the threshold difference value). Alternatively, it may be set when any one of the collision part interval integral value and the difference value exceeds a predetermined threshold value.
Thereby, first, with respect to the collision mode only specified by the magnitude of the collision part acceleration, the collision mode can be specified in more detail based on the collision part interval integral value and the difference value. Can be controlled appropriately.
[0009]
further, Claim 1 In the vehicle collision determination device according to the present invention, the determination unit has a predetermined threshold acceleration (for example, a threshold acceleration G in an embodiment described later). _TH ) And the collision part interval integral value exceeds a relatively small threshold collision part interval integral value (for example, an interval integral value α in an embodiment described later), or the difference value Is determined to be a collision when the difference exceeds a relatively small threshold difference value (for example, a difference value β in the embodiment described later), and the collision portion acceleration is a predetermined threshold acceleration (for example, in an embodiment described later). , Threshold acceleration G _TH And the difference value exceeds a relatively large threshold difference value (for example, a difference value λ in an embodiment described later), it is determined that there is a collision. In a case where it is greater than a predetermined threshold acceleration, and the collision part interval integral value exceeds a relatively large threshold collision part interval integral value (for example, an interval integral value ρ in an embodiment described later), and A collision is determined when the difference value is smaller than the relatively large threshold difference value and larger than a predetermined threshold difference value (for example, a difference value ω in an embodiment described later).
[0010]
According to the vehicle collision determination device having the above-described configuration, for example, when the collision portion acceleration that causes slow vehicle movement is relatively small and the side deformation of the vehicle is relatively large, a relatively small threshold is set. The occupant protection device is activated when the collision part interval integral value or the threshold difference value is exceeded.
On the other hand, for example, when the collision part acceleration is relatively large, causing sudden vehicle movement, the side part of the vehicle is greatly deformed and displaced toward the occupant when the relatively large threshold difference value is exceeded. The occupant protection device is activated. However, when a relatively large threshold collision section interval integral value is exceeded, it is determined that a high-speed collision has occurred, and the occupant protection device is activated when a smaller threshold difference value is exceeded.
Thereby, even if it is a short time after collision occurrence, starting of a passenger protection device can be controlled appropriately.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a vehicle collision determination device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 2 is a configuration diagram of the vehicle collision determination apparatus 10 according to an embodiment of the present invention, and FIG. 3 is a block diagram showing the operation of the vehicle collision determination apparatus 10 shown in FIG.
The vehicle collision determination device 10 according to the present embodiment includes a central processing unit 11 having a central acceleration sensor 21C disposed at a substantially central part of the vehicle, and one side portion of both side portions of the vehicle facing each other. The right side processing unit 12 having the right side acceleration sensor 21R disposed on the left side, the left side processing unit 13 having the left side acceleration sensor 21L disposed on the other side, the difference calculation unit 14, and the collision determination unit 15 And an activation signal generator 16.
[0012]
The central processing unit 11 includes a central acceleration sensor 21C, an A / D conversion unit 22C, a filter processing unit 23C, and an integration processing unit 24C.
The right side processing unit 12 and the left side processing unit 13 have, for example, the same configuration, and in order, the right side acceleration sensor 21R, the left side acceleration sensor 21L, the A / D conversion units 22R and 22L, and the filter processing. The units 23R and 23L, the integration processing units 24R and 24L, and the reference data generation units 25R and 25L are configured.
Each acceleration sensor 21C, 21R, 21L has a central acceleration signal G having a voltage level corresponding to the magnitude of acceleration acting in the direction intersecting the longitudinal direction of the vehicle, for example, the lateral direction of the vehicle. _C , Right side acceleration signal G _R , Left side acceleration signal G _L Is output.
[0013]
The A / D converters 22C, 22R, and 22L include, for example, low-pass filters and the like, and each acceleration signal G output from each acceleration sensor 21C, 21R, and 21L. _C , G _R , G _L Is converted into a digital signal, and each acceleration signal G is newly _C , G _R , G _L Output as.
The filter processing units 23C, 23R, and 23L are the acceleration signals G output from the A / D conversion units 22C, 22R, and 22L. _C , G _R , G _L The high frequency component which is a noise component is removed from
The integration processing units 24C, 24R, and 24L are used for the acceleration signals G output from the filter processing units 23C, 23R, and 23L, respectively. _C , G _R , G _L Is integrated over a predetermined time interval, and the central interval integral value V _C , Right side interval integral value V _R , Left side interval integral value V _L Is calculated.
[0014]
The difference calculation unit 14 is a central section integrated value V calculated by the central processing section 11. _C And the right side section integrated value V calculated by the right side processing section 12 _R ΔVR and the central interval integral value V _C Left side interval integral value V calculated by the left side processing unit 13 _L A difference ΔVL is calculated.
The collision determination unit 15 receives each acceleration signal G _C , G _R , G _L And each interval integral value V _C , V _R , V _L Then, the collision determination is performed based on the differences ΔVR and ΔVL.
The activation signal generator 16 generates an activation signal for operating an occupant protection device such as an airbag or a seat belt pretensioner, for example, according to the determination result in the collision determination unit 15.
[0015]
The vehicle collision determination device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle collision determination device 10 will be described with reference to the accompanying drawings. FIG. 4 is a flowchart showing the operation of the vehicle collision determination apparatus 10, and FIG. 5 is a graph showing each reference data referred to in the collision determination process.
[0016]
First, in step S01 shown in FIG. 4, the collision that is located in the vicinity of the collision occurrence position, which is one of the right side acceleration sensor 21R of the right side processing unit 12 and the left side acceleration sensor 21L of the left side processing unit 13. Collision side acceleration signal G output from the side acceleration sensor _S Filter processing is performed to remove high frequency components that are noise components.
In addition, although the frequency passed in this filter process is not specifically limited, For example, it is set to 200 Hz or less, More preferably, it is set to 100-150 Hz or less.
[0017]
Next, in step S02, the collision side acceleration signal G _S Is the predetermined acceleration G ₀ It is judged whether it is larger than. That is, in the collision side comparison unit 31 shown in FIG. _S To predetermined acceleration G ₀ It is determined whether or not the value obtained by subtracting is greater than zero.
If this determination is “NO”, the flow proceeds to step S 01 described above.
On the other hand, if the determination result is “YES”, the flow proceeds to step S03, and the collision-side acceleration signal G after filtering is processed. _S Is integrated with respect to a predetermined time interval ΔT2, and the collision side interval integration value V _S Is calculated.
[0018]
In addition, the following steps S04 to S06 are performed in parallel with the processes of steps S01 to S03 described above.
First, in step S04 shown in FIG. 4, the central acceleration signal G output from the central acceleration sensor 21C of the central processing unit 11 is used. _C Filter processing is performed to remove high frequency components that are noise components.
In addition, although the frequency passed in this filter process is not specifically limited, For example, it is set to 200 Hz or less, More preferably, it is set to 100-150 Hz or less.
[0019]
Next, in step S05, the central acceleration signal G _C Is the predetermined acceleration G ₁ It is judged whether it is larger than. That is, in the center side comparison unit 32 shown in FIG. _C To predetermined acceleration G ₁ It is determined whether or not the value obtained by subtracting is greater than zero.
If this determination is “NO”, the flow proceeds to step S 04 described above.
On the other hand, if the determination result is “YES”, the flow proceeds to step S06, and the central acceleration signal G after filtering is processed. _C Is integrated with respect to a predetermined time interval ΔT1, and the central interval integrated value V _C Is calculated.
[0020]
In step S07, the collision side section integral value V _S To center section integral V _C A value obtained by subtracting is set as a difference ΔV.
Next, in Step S08, the acceleration comparison unit 33 shown in FIG. _S Is the predetermined threshold acceleration G _TH Determine if greater than.
If this determination is “NO”, the flow proceeds to step S 09, and the collision-side interval integration value V is calculated by the first interval integration value comparison unit 34 and the first difference comparison unit 35 shown in FIG. _S Is greater than a predetermined interval integral value α, which will be described later, or whether the difference ΔV is greater than a predetermined difference value β, which will be described later.
If this determination is “NO”, the flow proceeds to step S 06 described above.
On the other hand, if the determination result is “YES”, the process proceeds to step S10, where a start signal for operating an occupant protection device such as an air bag or a seat belt pretensioner is output, and the series of processing ends. .
[0021]
On the other hand, if the determination result in step S08 is “YES”, the process proceeds to step S11, and the difference comparison unit 36 shown in FIG. 3 determines whether or not the difference ΔV is larger than a predetermined difference value λ described later. To do.
If this determination is “YES”, the flow proceeds to step S 10 and the series of processing is ended.
On the other hand, if the determination result in step S11 is “NO”, the process proceeds to step S12, where the second interval integral value comparison unit 37 and the second difference comparison unit 38 shown in FIG. _S Is larger than a predetermined interval integral value ρ described later, and whether or not the difference ΔV is larger than a predetermined difference value ω described later.
If this determination is “YES”, the flow proceeds to step S 10 and the series of processing is ended.
On the other hand, if the determination is “NO”, the flow proceeds to step S 03 described later.
[0022]
As shown in FIG. 5, the predetermined interval integral values α, ρ are set to α <ρ, for example, and the predetermined difference values β, ω, λ are set to β <ω <λ, for example.
Further, a predetermined acceleration G ₀ Is a predetermined threshold acceleration G _TH G _TH > G ₀ Is set to
That is, in step S08, for example, a slow vehicle movement is caused, such as an oblique side collision with a relatively low rigidity portion of the vehicle body (NO side of step S08), or, for example, It is determined whether or not it is a case where a sudden vehicle movement is caused as in a side collision with a relatively high rigidity portion (YES side in step S08).
[0023]
And when causing a slow vehicle movement, a passenger | crew protection apparatus is started when the relatively small area integral value (alpha) or difference value (beta) is exceeded.
On the other hand, even if a sudden vehicle movement is caused, the collision side interval integral value V _S And the central interval integral value V _C Is larger than the predetermined difference value λ, it is determined that the side portion of the vehicle is greatly deformed and displaced toward the occupant, and the occupant protection device is activated.
However, the collision side interval integral value V _S Is larger than a predetermined interval integral value ρ, it is determined that a high-speed collision has occurred, and when the difference ΔV exceeds a difference value ω smaller than the predetermined difference value λ. , Activate the occupant protection device.
[0024]
As described above, according to the vehicle collision determination apparatus 10 of the present embodiment, the central section integral value V _C And collision side interval integral value V _S And the collision side interval integral value V _S For example, when the entire vehicle slips and there is no need to activate the occupant protection device, for example, the side portion of the vehicle is greatly deformed and displaced toward the occupant. In this case, it is possible to clearly determine the case where the occupant protection device needs to be activated, and the occupant protection device can be activated at an appropriate timing even in a short time after the occurrence of the collision.
[0025]
In the present embodiment, the collision-side acceleration signal G _S For one threshold acceleration G _TH However, the present invention is not limited to this. For example, a plurality of, for example, two first threshold accelerations G, as shown in a flowchart of a modification of the operation of the vehicle collision determination device 10 of the present embodiment shown in FIG. _TH1 And second threshold acceleration G _TH2 May be set.
In the following description, the same parts as those in the above-described embodiment are denoted by the same reference numerals, and description thereof is simplified or omitted.
[0026]
In this case, the predetermined acceleration G ₀ Is the threshold acceleration G _TH1 , G _TH2 For example, G _TH2 > G _TH1 > G ₀ Is set to
And in step S07 shown in FIG. 6, collision side area integral value V _S To middle section integral value V _C After the value obtained by subtracting is set as the difference ΔV, the process proceeds to step S21.
In step S21, the collision-side acceleration signal G _S Is a predetermined second threshold acceleration G _TH2 Determine if greater than.
If this determination is “YES”, the flow proceeds to step S 22 and the collision side interval integral value V _S And the difference ΔV are compared with a predetermined third interval integral value and a third difference value to determine whether or not a predetermined condition is satisfied.
If the determination result in step S22 is “NO”, the process proceeds to step S06.
On the other hand, if the decision result in the step S22 is “YES”, the process advances to a step S10 to output a start signal for operating the occupant protection device, and the series of processes is ended.
[0027]
If the determination result in step S21 is “NO”, the process proceeds to step S23, where the collision-side acceleration signal G _S Is a predetermined first threshold acceleration G _TH1 Larger than the predetermined second threshold acceleration G _TH2 Or less.
If this determination is “YES”, the flow proceeds to step S 24, and the collision side interval integral value V _S And the difference ΔV are compared with a predetermined second interval integral value and a second difference value to determine whether or not a predetermined condition is satisfied.
If the determination result in step S24 is “NO”, the process proceeds to step S03.
On the other hand, if the determination result in step S24 is “YES”, the process proceeds to step S10, where an activation signal for operating the occupant protection device is output, and the series of processing ends.
[0028]
If the determination result in step S23 is “NO”, the process proceeds to step S25, where the collision side interval integral value V _S And the difference ΔV are compared with a predetermined first interval integral value and a first difference value to determine whether or not a predetermined condition is satisfied.
If the determination result in step S25 is “NO”, the process proceeds to step S03.
On the other hand, if the determination result in step S25 is “YES”, the process proceeds to step S10, where an activation signal for operating the occupant protection device is output, and the series of processing ends.
[0029]
In this case, the collision side acceleration signal G _S And the central side interval integral value V _C And collision side interval integral V _S And the collision side interval integral V _S For example, a collision can be determined based on a more detailed determination criterion. For example, the timing for operating an occupant protection device such as an airbag or a seat belt pretensioner is appropriately set according to various collision events. be able to.
[0030]
In the above-described embodiment, the collision-side acceleration signal G _S The integration interval with respect to is the time interval ΔT2, and the central acceleration signal G _C The time interval ΔT1 is the time interval ΔT1, but the magnitude relationship between the time interval ΔT1 and the time interval ΔT2 is not particularly limited, and may be equal to each other, for example, ΔT1 = ΔT2.
Furthermore, a predetermined acceleration G ₀ And acceleration G ₁ Is not particularly limited, for example, G ₀ = G ₁ Or other relationships.
[0031]
【The invention's effect】
As described above, according to the vehicle collision determination apparatus of the first aspect of the present invention, the interval integral value of the output of the acceleration sensor arranged on the side portion on the collision side and the central portion of the vehicle are arranged. Whether or not occupant protection devices such as airbags and seatbelts / pretensioners should be activated even if it is a short time after the occurrence of a collision, by making a collision determination based on the difference from the interval integral value of the output of the acceleration sensor Can be accurately determined.
further, Claim 1 According to the vehicle collision determination device of the present invention described in the above, first, with respect to the collision mode only specified by the magnitude of the collision portion acceleration, the vehicle collision determination device is more specifically based on the collision portion interval integral value and the difference value. The collision mode can be specified, and the operation of the occupant protection device can be appropriately controlled.
further, Claim 1 According to the vehicle collision determination device of the present invention described above, the activation of the occupant protection device can be controlled more appropriately even in a short time after the occurrence of the collision.
[Brief description of the drawings]
FIG. 1A is a diagram showing a speed change in a relatively high-speed side collision, FIG. 1B is a diagram showing a speed change in a relatively medium-speed side collision, and FIG. It is a figure which shows the speed change in the relatively low-speed side collision in a high position.
FIG. 2 is a configuration diagram of a vehicle collision determination device according to an embodiment of the present invention.
FIG. 3 is a block diagram showing the operation of the vehicle collision determination device shown in FIG. 2;
4 is a flowchart showing the operation of the vehicle collision determination apparatus shown in FIG.
FIG. 5 is a graph showing reference data referred in a collision determination process.
FIG. 6 is a flowchart showing a modified example of the operation of the vehicle collision determination device of the present embodiment.
[Explanation of symbols]
10 Vehicle collision determination device
14 Difference calculation part (difference calculation means)
15 Collision determination unit (collision determination means)
21C Center acceleration sensor (center acceleration detection means)
21R Right side acceleration sensor (side acceleration detection means)
21L Left side acceleration sensor (side acceleration detection means)
24C integration processing unit (central acceleration integration means)
24R, 24L integration processing unit (collision unit acceleration integration means)
33 Acceleration comparison part (collision part acceleration judgment means)
Step S08, Step S21, Step S23 (collision part acceleration determining means)
Step S09, Step S11, Step S12,
Step S22, Step S24, Step S25 (determination means)

Claims (1)

A central part acceleration detecting means for detecting an acceleration that is arranged at a substantially central part in the width direction of the vehicle and acts in a direction intersecting with the longitudinal direction of the vehicle;
A plurality of side acceleration detection means arranged on the side of the vehicle for detecting the acceleration;
A central acceleration integrating means for integrating the central acceleration detected by the central acceleration detecting means for a predetermined first time interval;
Collision unit acceleration integration for integrating the collision unit acceleration detected by the side acceleration detection unit located in the vicinity of the collision occurrence point among the plurality of side acceleration detection units for a predetermined second time interval. Means,
A difference calculating means for calculating a difference value between the central section integrated value calculated by the central acceleration integrating means and the collision section integrated value calculated by the collision acceleration integrating means;
A collision determination means for performing a collision determination based on the collision part acceleration, the collision part interval integral value, and the difference value ;
The collision determination means includes
It has at least one or more predetermined threshold accelerations set with respect to the collision part acceleration, and the collision part acceleration is located in any of a plurality of acceleration regions divided by the predetermined threshold acceleration. A collision part acceleration determining means for determining;
A plurality of predetermined threshold collision part interval integral values and threshold difference values set according to the determination result by the collision part acceleration determination means with respect to the collision part interval integral value and the difference value, and the collision part When the interval integral value exceeds the predetermined threshold collision portion interval integral value and the difference value exceeds the predetermined threshold difference value, or the collision portion interval integral value is equal to the predetermined threshold collision portion interval integral value. A determination means for determining a collision when the difference value exceeds the predetermined threshold difference value, or
The determination means includes
The collision part acceleration is smaller than a predetermined threshold acceleration, and the collision part interval integral value exceeds a relatively small threshold collision part interval integral value, or the difference value is a relatively small threshold value. When the difference value is exceeded, it is determined as a collision,
When the collision part acceleration is greater than a predetermined threshold acceleration, and the difference value exceeds a relatively large threshold difference value, determine a collision,
When the collision part acceleration is larger than a predetermined threshold acceleration, and when the collision part interval integral value exceeds a relatively large threshold collision part interval integral value, and the difference value is relatively A collision determination apparatus for a vehicle , wherein a collision is determined when it is smaller than a large threshold difference value and larger than a predetermined threshold difference value .

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