JP2019206287A - Personal protection system for vehicle - Google Patents

Personal protection system for vehicle Download PDF

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JP2019206287A
JP2019206287A JP2018103340A JP2018103340A JP2019206287A JP 2019206287 A JP2019206287 A JP 2019206287A JP 2018103340 A JP2018103340 A JP 2018103340A JP 2018103340 A JP2018103340 A JP 2018103340A JP 2019206287 A JP2019206287 A JP 2019206287A
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contact
protection system
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JP7202790B2 (en
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浩幸 宮山
Hiroyuki Miyayama
浩幸 宮山
小野　勝一
Katsuichi Ono
勝一 小野
直己 山根
Naomi Yamane
直己 山根
裕史 大塚
Yasushi Otsuka
裕史 大塚
羊三 川野
Yozo Kawano
羊三 川野
琢馬 大里
Takuma Osato
琢馬 大里
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Suzuki Motor Corp
Hitachi Astemo Ltd
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Suzuki Motor Corp
Hitachi Automotive Systems Ltd
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Abstract

To provide a personal protection system for a vehicle, which takes into account contact with not only a front portion but also side portions of a vehicle body.SOLUTION: The personal protection system for a vehicle comprises: a front airbag (51) deployable so as to cover a lower portion of a front windshield (41); right and left side airbags (52, 53) deployable so as to cover front pillars (2, 3) and front door windshields (42, 43) behind the corresponding front pillars, respectively; imaging means (11) for imaging an area in front of the vehicle; moving body detection means (10) for detecting moving bodies including pedestrians and two-wheel vehicles from an image of the imaging means; and contact possibility determination means (20) for predicting contact areas (C, Lc, Rc, Ls, Rs) with an own vehicle (1) on the basis of a quantity of states of the moving body and the path of the own vehicle. The front airbag (51) is deployed when contact with a front portion of the own vehicle is predicted. One of the side airbags (52, 53) is deployed when contact with a side portion of the own vehicle is predicted.SELECTED DRAWING: Figure 2

Description

本発明は、車両用対人保護システムに関する。   The present invention relates to a vehicle personal protection system.

従来、歩行者との衝突を検知した場合に車外エアバッグを展開し、フード上に跳ね上げられた歩行者のフロントウインドシールドやフロントピラーとの二次衝突における衝撃を緩和する歩行者保護装置が公知である（例えば特許文献１参照）。   Conventionally, when detecting a collision with a pedestrian, a pedestrian protection device that deploys an air bag outside the vehicle and alleviates the impact in a secondary collision with the front windshield or front pillar of the pedestrian that is flipped up on the hood. It is known (see, for example, Patent Document 1).

特開２００７−１１２１８３号公報JP 2007-112183 A

上記の歩行者保護装置は、車体前部における接触を想定しているが、車両が左右何れかの方向に旋回中の場合は、歩行者が車体前部ではなく車体側部に接触する可能性もあり、そのようなケースへの対応も検討される余地があった。   The above pedestrian protection device assumes contact at the front of the vehicle body, but if the vehicle is turning in either the left or right direction, the pedestrian may contact the side of the vehicle body instead of the front of the vehicle body. Therefore, there was room to consider how to deal with such cases.

本発明は、上記のような実状に鑑みてなされたものであって、その目的は、車体前部のみならず車体側部との接触も考慮した車両用対人保護システムを提供することにある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicular interpersonal protection system that considers contact with not only the front portion of the vehicle body but also the side portions of the vehicle body.

上記課題を解決するために、本発明に係る車両用対人保護システムは、
車体外面を覆うように展開する複数のエアバッグと、
前記複数のエアバッグの選択的な作動を制御する制御手段と、を備え、
前記複数のエアバッグは、フロントウインドシールド下部を覆うように展開可能な前部エアバッグと、フロントピラーおよびその後方のフロントドアウインドシールドを覆うように展開可能な左右の側部エアバッグと、を含み、
前記制御手段は、車両前方を撮像する撮像手段と、前記撮像手段の画像から歩行者と二輪車からなる移動体を検出する移動体検出手段と、前記移動体の状態量と自車進路に基づき、自車との接触領域を予測する接触可能性判定手段と、を含み、
自車前部との接触が予測された場合には前記前部エアバッグを展開し、自車側部との接触が予測された場合には前記側部エアバッグを展開するように構成されている。 In order to solve the above-mentioned problem, a vehicular interpersonal protection system according to the present invention includes:
A plurality of airbags deployed to cover the outer surface of the vehicle body;
Control means for controlling selective actuation of the plurality of airbags,
The plurality of airbags include a front airbag that can be deployed to cover the lower portion of the front windshield, and left and right side airbags that can be deployed to cover the front pillar and the front door windshield behind the front pillar. Including
The control means is based on an imaging means for imaging the front of the vehicle, a moving body detection means for detecting a moving body consisting of a pedestrian and a two-wheeled vehicle from the image of the imaging means, a state quantity of the moving body, and the own vehicle course, Contact possibility determination means for predicting a contact area with the host vehicle,
The front airbag is deployed when contact with the front of the host vehicle is predicted, and the side airbag is deployed when contact with the side of the host vehicle is predicted. Yes.

本発明に係る車両用対人保護システムは、上記のように、歩行者や二輪車の自車との接触が予測される場合に、その接触領域を予測し、前部エアバッグ、左右の側部エアバッグを選択的に展開する構成により、車両が左右何れかの方向に旋回中の場合などに歩行者や二輪車の車体側部への接触が予測された場合は左右何れかの側部エアバッグが展開し、車体側部のフロントピラーからフロントドアウインドシールドにかけての領域における保護構造を形成可能であるとともに、反対側のエアバッグや前部エアバッグは展開せず、エアバッグ展開に伴うドライバーの視界遮断が抑制される利点がある。   As described above, the antipersonnel protection system for vehicles according to the present invention predicts a contact area when a contact of a pedestrian or a motorcycle with the own vehicle is predicted, and the front airbag and the left and right side airbags are predicted. If the bag is selectively deployed, if the vehicle is turning in either the left or right direction and the contact with the pedestrian or motorcycle side is predicted, the left or right side airbag will be It can be deployed to form a protective structure in the area from the front pillar on the side of the vehicle body to the front door windshield, and the air bag on the opposite side and the front airbag are not deployed. There is an advantage that blocking is suppressed.

本発明実施形態の対人保護システムを示すブロック図である。It is a block diagram which shows the personal protection system of embodiment of this invention. 本発明実施形態の対人保護システムを備えた車両の平面図である。It is a top view of the vehicle provided with the personal protection system of this embodiment. 本発明実施形態の対人保護システムを備えた車両の前部エアバッグの展開を示す側面図である。It is a side view showing deployment of a front part airbag of vehicles provided with a personal protection system of an embodiment of the present invention. 本発明実施形態の対人保護システムを備えた車両の側部エアバッグの展開を示す側面図である。It is a side view which shows deployment of the side part airbag of the vehicle provided with the personal protection system of this invention embodiment. 本発明実施形態の対人保護システムの動作を示すフローチャートである。It is a flowchart which shows operation | movement of the personal protection system of embodiment of this invention.

以下、本発明の実施形態について、図面を参照しながら詳細に説明する。
図１において、本発明第１実施形態に係る車両用対人保護システムは、移動体検出部１０、接触可能性判定部２０、車両制御部３０、および、車外エアバッグ装置５０から主に構成される。なお、本発明の対人保護システムは、歩行者の他に、乗員を保護する構造物のない自転車や原動機付自転車などの二輪車を対象とするが、以下の説明では便宜的に「歩行者等」と総称する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In FIG. 1, the vehicle personal protection system according to the first embodiment of the present invention is mainly configured by a moving object detection unit 10, a contact possibility determination unit 20, a vehicle control unit 30, and an outside air bag device 50. . The interpersonal protection system of the present invention is intended for two-wheeled vehicles such as bicycles without a structure for protecting passengers and motorbikes, in addition to pedestrians. Collectively.

移動体検出部１０は、車両前方を撮像する撮像手段１１としてステレオカメラを備え、その左右画像の視差から距離画像を生成し、同一距離にある特徴点群として立体物（車両、二輪車、歩行者、側壁など）を検出する立体物検出手段１２、立体物の画像特徴から歩行者等を認識する歩行者判定手段１３を備えている。これらの立体物検出手段１２および歩行者判定手段１３は、それぞれの機能を実行するように動作可能な画像処理プロセッサとして実装され、好適には撮像手段１１を構成するステレオカメラに実装される。   The moving body detection unit 10 includes a stereo camera as an imaging unit 11 that images the front of the vehicle, generates a distance image from the parallax of the left and right images, and creates a three-dimensional object (vehicle, two-wheeled vehicle, pedestrian) as a feature point group at the same distance. , A side wall, etc.) and a pedestrian determination means 13 for recognizing a pedestrian or the like from the image feature of the three-dimensional object. The three-dimensional object detection unit 12 and the pedestrian determination unit 13 are mounted as an image processing processor operable to execute the respective functions, and are preferably mounted on a stereo camera constituting the imaging unit 11.

接触可能性判定部２０は、時系列フィルタを用いて歩行者等の状態量（位置、相対速度、加速度、横幅）を求める状態量算出手段２１、歩行者等の状態量とその誤差分散、自車進行路から接触予測時間ＴＴＣを算出するＴＴＣ算出手段２２、および、ＴＴＣ経過後の歩行者等の存在確率分布を求め、自車との接触確率分布から接触領域を予測する接触確率算出手段２３を備えている。   The contact possibility determination unit 20 uses a time-series filter to calculate a state quantity calculation unit 21 that obtains state quantities (position, relative speed, acceleration, lateral width) of a pedestrian, etc. TTC calculating means 22 for calculating a predicted contact time TTC from the vehicle traveling path, and a contact probability calculating means 23 for obtaining an existence probability distribution of a pedestrian or the like after the lapse of TTC and predicting a contact area from the contact probability distribution with the own vehicle. It has.

本発明での接触には、車両１のパンパー６１と歩行者の移動軌跡の交差、および、車両１の左右フェンダー６２，６３と歩行者の移動軌跡の交差を想定しており、自車１の挙動誤差により歩行者の状態量を補正することで旋回を考慮した接触判定を行う。   The contact in the present invention assumes the intersection of the movement path of the pedestrian 61 and the pedestrian of the vehicle 1 and the intersection of the left and right fenders 62 and 63 of the vehicle 1 and the movement path of the pedestrian. The contact determination in consideration of turning is performed by correcting the state quantity of the pedestrian by the behavior error.

接触領域の設定は、例えば図２に示すように、車両１の走行方向前方を、車両１の車幅領域前方を車幅中央領域Ｃ，車幅左側領域Ｌｃ、車幅右側領域Ｒｃ、車幅領域の側方所定長（例えば０．５ｍ）までの左側領域Ｌｂ、右側領域Ｒｂ、それらの外側の左外側領域Ｌａ、右外側領域Ｒａの７領域に区分し、車両１の左右側方をそれぞれ左側方領域Ｌｓ、右側方領域Ｒｓとする。   For example, as shown in FIG. 2, the contact area is set in front of the vehicle 1 in the running direction, and in front of the vehicle width area of the vehicle 1 is the vehicle width center area C, the vehicle width left area Lc, the vehicle width right area Rc, the vehicle width. The left and right sides of the vehicle 1 are divided into seven regions, a left region Lb, a right region Rb, a left outer region La, and a right outer region Ra up to a predetermined lateral length (for example, 0.5 m). Let it be a left side region Ls and a right side region Rs.

上記接触可能性判定部２０は、それぞれの機能を実行するように動作可能なプログラムを格納するＲＯＭ（フラッシュメモリ）、演算処理を行うＣＰＵ、前記プログラムが読み出され前記ＣＰＵの作業領域および演算結果の一時記憶領域となるＲＡＭ、および入出力インターフェースなどを備えたコンピュータであるコントロールユニット（ＥＣＵ）として実装される。   The contact possibility determination unit 20 includes a ROM (flash memory) that stores a program operable to execute each function, a CPU that performs arithmetic processing, a work area of the CPU from which the program is read, and a calculation result It is mounted as a control unit (ECU) which is a computer having a RAM as a temporary storage area and an input / output interface.

車両制御部３０は、接触領域および接触確率分布と自車進行路に応じて、車外エアバッグ装置５０の複数のエアバッグを選択的に展開させるエアバッグ作動手段３１、車両１のＥＳＰ／ＡＢＳコントローラに制動指令を出力し自動ブレーキングを実施する制動手段３２を備えている。   The vehicle control unit 30 includes an airbag operating means 31 that selectively deploys a plurality of airbags of the vehicle exterior airbag device 50 according to the contact area, the contact probability distribution, and the own vehicle traveling path, and the ESP / ABS controller of the vehicle 1. A braking means 32 is provided for outputting a braking command to the automatic braking.

車外エアバッグ装置５０は、図２に示すように、車両１のフロントフード５の後縁部に隣接した下面の中央に配設された前部エアバッグ５１、下面の左右各側に配設された側部エアバッグ５２，５３で構成されている。   As shown in FIG. 2, the exterior airbag device 50 is disposed on the left and right sides of the lower surface of the front airbag 51 disposed at the center of the lower surface adjacent to the rear edge of the front hood 5 of the vehicle 1. The side airbags 52 and 53 are configured.

前部エアバッグ５１は、車両１のフロントウインドシールド４１の下部を覆うように展開可能（５１′）であり、展開状態で、左右両側部分は車両１の左右のフロントピラー２，３に沿って後方（斜上方）に延出している。図３では、フロントフード５の後縁部側がリフトアップし、その隙間から前部エアバッグ５１が展開する場合が示されているが、フロントフード５をリフトアップさせずに、カウルボックスとの隙間から直接展開するように構成することもできる。   The front airbag 51 can be deployed (51 ′) so as to cover the lower portion of the front windshield 41 of the vehicle 1, and the left and right side portions extend along the left and right front pillars 2 and 3 of the vehicle 1 in the deployed state. It extends rearward (inclined upward). FIG. 3 shows a case where the rear edge side of the front hood 5 is lifted up and the front airbag 51 is deployed from the gap, but the gap between the front hood 5 and the cowl box is not lifted up. It can also be configured to deploy directly from

左右の側部エアバッグ５２，５３は、左右のフロントピラー２，３からその後方のフロントドアウインドシールド４２，４３にかけて覆うように展開可能（５２′，５３′）であり、図４に左側を示すように、フロントフード５の後縁部側がリフトアップし、その隙間からフロントピラー２に沿って展開することで、落下が防止され、フロントドアウインドシールド４２を確実に覆うことができる。   The left and right side airbags 52, 53 can be deployed (52 ', 53') so as to cover from the left and right front pillars 2, 3 to the front door windshields 42, 43 on the rear side. As shown, the rear edge side of the front hood 5 is lifted up and deployed along the front pillar 2 from the gap, so that the fall is prevented and the front door windshield 42 can be reliably covered.

なお、フロントフード５は、車体前方に向けて開くアリゲーター式と、車体後方に向けて開く逆アリゲーター式があるが、アリゲーター式の場合は、エアバッグの展開力または別の流体圧アクチュエータによりヒンジ部を上昇させる機構が必要である。逆アリゲーター式の場合は、フードラッチの開閉機構を利用することもできる。   The front hood 5 includes an alligator type that opens toward the front of the vehicle body and a reverse alligator type that opens toward the rear of the vehicle body. In the case of the alligator type, the hinge portion is driven by an airbag deployment force or another fluid pressure actuator. A mechanism for raising the height is necessary. In the case of the reverse alligator type, a hood latch opening / closing mechanism can also be used.

次に、上記実施形態に係る対人保護システムの動作について図５を用いて説明する。
車両の走行と共にシステムが起動されると、撮像手段１１による前方画像の取得が開始され（ステップ１０１）、視野画像内における移動体検出、すなわち、立体物（車両、二輪車、歩行者、側壁など）の検出、および、立体物の画像特徴から歩行者等の識別が開始される（ステップ１０２）。 Next, the operation of the personal protection system according to the embodiment will be described with reference to FIG.
When the system is started as the vehicle travels, acquisition of a front image by the imaging means 11 is started (step 101), and moving object detection in the field-of-view image, that is, a three-dimensional object (vehicle, two-wheeled vehicle, pedestrian, sidewall, etc.) And the identification of a pedestrian or the like is started from the detection of the image and the image feature of the three-dimensional object (step 102).

次いで、状態量算出手段２１において、検出された移動体の状態量（位置、距離、相対速度、加速度、横幅）が時系列フィルタを用いて算出され（ステップ１１１）、ＴＴＣ算出手段２２にて、移動体の状態量とその誤差分散、自車進行路から接触予測時間ＴＴＣが算出され（ステップ１１２）、さらに、接触確率算出手段２３において、ＴＴＣ経過後の移動体の存在確率分布を求め、自車との接触確率分布から接触領域（Ｃ，Ｌｃ，Ｒｃ，Ｌｓ，Ｒｓ）を予測する（ステップ１１３）。   Next, the state quantity calculation means 21 calculates the detected state quantity (position, distance, relative speed, acceleration, lateral width) of the moving body using a time series filter (step 111), and the TTC calculation means 22 The predicted contact time TTC is calculated from the state quantity of the moving object, its error variance, and the own vehicle traveling path (step 112). Further, the contact probability calculation means 23 obtains the existence probability distribution of the moving object after the elapse of TTC. The contact area (C, Lc, Rc, Ls, Rs) is predicted from the contact probability distribution with the car (step 113).

そして、接触予測時間ＴＴＣが臨界時間Ｔａ未満であれば（ステップ１１４，１１５）、接触確率の高いと判定された接触領域（Ｃ，Ｌｃ，Ｒｃ，Ｌｓ，Ｒｓ）に対応したエアバッグが展開される。すなわち、接触領域が、
（ｉ）直前方領域（車幅中央領域Ｃ、車幅左側領域Ｌｃ、車幅右側領域Ｒｃ）と判定された場合（ステップ１２１）は前部エアバッグ５１が展開され（ステップ１３１）、
（ｉｉ）左側領域Ｌｂ（ステップ１２２）かつ自車側方（左側方領域Ｌｓ）と判定された場合（ステップ１２４）は左側部エアバッグ５２が展開され（ステップ１３２）、
（ｉｉｉ）右側領域Ｒｂ（ステップ１２３）かつ自車側方（右側方領域Ｒｓ）と判定された場合（ステップ１２５）は右側部エアバッグ５３が展開され（ステップ１３３）、
（ｉｖ）エアバッグの展開と同時に自動ブレーキが作動する（ステップ１４１）。 If the predicted contact time TTC is less than the critical time Ta (steps 114 and 115), the airbag corresponding to the contact region (C, Lc, Rc, Ls, Rs) determined to have a high contact probability is deployed. The That is, the contact area is
(I) When it is determined that the region is the immediately preceding region (vehicle width central region C, vehicle width left region Lc, vehicle width right region Rc) (step 121), the front airbag 51 is deployed (step 131).
(Ii) When the left side region Lb (step 122) and the vehicle side (left side region Ls) are determined (step 124), the left side airbag 52 is deployed (step 132).
(Iii) When the right side area Rb (step 123) and the vehicle side (right side area Rs) are determined (step 125), the right side airbag 53 is deployed (step 133).
(Iv) The automatic brake is activated simultaneously with the deployment of the airbag (step 141).

ここで、臨界時間Ｔａは、自動ブレーキが作動しても歩行者等と接触する可能性が高いと判定する時間であり、自動ブレーキで歩行者等との接触を回避できる場合は、何れのエアバッグも展開しない。   Here, the critical time Ta is a time for which it is determined that there is a high possibility of contact with a pedestrian or the like even when the automatic brake is activated. The bag will not unfold.

以上のように構成された対人保護システムでは、接触が予想される領域のエアバッグ５１，５２，５３のみが展開されるので、エアバッグ展開に伴うドライバーの視界遮断が抑制される。特に、左右側部エアバッグ５２，５３はフロントピラー２，３から左右のフロントウインドシールド４２，４３に展開するので、これらのみが展開する場合は、ドライバーの視界は十分に維持される。   In the personal protection system configured as described above, only the airbags 51, 52, and 53 in the region where contact is expected are deployed, so that the driver's visibility blockage associated with the deployment of the airbag is suppressed. In particular, since the left and right side airbags 52 and 53 are deployed from the front pillars 2 and 3 to the left and right front windshields 42 and 43, when only these are deployed, the visibility of the driver is sufficiently maintained.

また、中央の前部エアバッグ５１は、左右のフロントピラー２，３に沿った部分以外はフロントウインドシールド４１の下部に限定して展開されるので、フロントウインドシールド４２，４３の視界が確保されていることと相俟って、運転に支障のないレベルに視界が維持される。   Further, since the central front airbag 51 is deployed only at the lower part of the front windshield 41 except for the portions along the left and right front pillars 2 and 3, the visibility of the front windshields 42 and 43 is secured. Combined with this, visibility is maintained at a level that does not hinder driving.

また、自車の旋回挙動を考慮して、左右側方領域Ｌｓ，Ｒｓが接触領域となることが予測される場合には、自車挙動誤差により歩行者の状態量を補正することで精度のよい接触判定ができる。   In addition, when it is predicted that the left and right side regions Ls and Rs are contact regions in consideration of the turning behavior of the own vehicle, the accuracy of the pedestrian is corrected by correcting the pedestrian's state quantity based on the own vehicle behavior error. A good contact determination can be made.

上記実施形態では、撮像手段１１としてステレオカメラを用い、左右画像の視差より立体物までの距離分布を取得する場合を示したが、撮像手段１１として単眼カメラを用い、その画像と、ミリ波レーダーの検知情報から立体物までの距離を取得するように構成することもできる。   In the above embodiment, a case where a stereo camera is used as the imaging unit 11 and the distance distribution to the three-dimensional object is acquired from the parallax of the left and right images has been shown. The distance from the detection information to the three-dimensional object can be acquired.

以上、本発明のいくつかの実施形態について述べたが、本発明は上記各実施形態に限定されるものではなく、本発明の技術的思想に基づいてさらに各種の変形および変更が可能であることを付言する。   Although several embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications and changes can be made based on the technical idea of the present invention. I will add.

１ 車両
２，３ フロントピラー
５ フロントフード
１０ 移動体検出部
１１ 撮像手段
１２ 立体物検出手段
１３ 歩行者判定手段
２０ 接触可能性判定部
２１ 状態量算出手段
２２ ＴＴＣ算出手段
２３ 接触確率算出手段
３０ 車両制御部
３１ エアバッグ作動手段
３２ 制動手段
４１ フロントウインドシールド
４２，４３ フロントウインドシールド
５０ 車外エアバッグ装置
５１ 前部エアバッグ
５２，５３ 側部エアバッグ DESCRIPTION OF SYMBOLS 1 Vehicle 2,3 Front pillar 5 Front hood 10 Moving body detection part 11 Imaging means 12 Three-dimensional object detection means 13 Pedestrian determination means 20 Contact possibility determination part 21 State quantity calculation means 22 TTC calculation means 23 Contact probability calculation means 30 Vehicle Control unit 31 Airbag operating means 32 Braking means 41 Front windshield 42, 43 Front windshield 50 Outside air bag device 51 Front air bag 52, 53 Side air bag

Claims (5)

車体外面を覆うように展開する複数のエアバッグと、
前記複数のエアバッグの選択的な作動を制御する制御手段と、
を備えた車両用対人保護システムであって、
前記複数のエアバッグは、フロントウインドシールド下部を覆うように展開可能な前部エアバッグと、フロントピラーおよびその後方のフロントドアウインドシールドを覆うように展開可能な左右の側部エアバッグと、を含み、
前記制御手段は、車両前方を撮像する撮像手段と、前記撮像手段の画像から歩行者と二輪車からなる移動体を検出する移動体検出手段と、前記移動体の状態量と自車進路に基づき、自車との接触領域を予測する接触可能性判定手段と、を含み、
自車前部との接触が予測された場合には前記前部エアバッグを展開し、自車側部との接触が予測された場合には前記側部エアバッグを展開するように構成されている、車両用対人保護システム。 A plurality of airbags deployed to cover the outer surface of the vehicle body;
Control means for controlling selective actuation of the plurality of airbags;
Vehicular interpersonal protection system comprising:
The plurality of airbags include a front airbag that can be deployed to cover the lower portion of the front windshield, and left and right side airbags that can be deployed to cover the front pillar and the front door windshield behind the front pillar. Including
The control means is based on an imaging means for imaging the front of the vehicle, a moving body detection means for detecting a moving body consisting of a pedestrian and a two-wheeled vehicle from the image of the imaging means, a state quantity of the moving body, and the own vehicle course, Contact possibility determination means for predicting a contact area with the host vehicle,
The front airbag is deployed when contact with the front of the host vehicle is predicted, and the side airbag is deployed when contact with the side of the host vehicle is predicted. The vehicle personal protection system. 前記接触可能性判定手段は、前記移動体の状態量とその誤差分散および自車進路に基づき、前記移動体の接触予測時間と該接触予測時間経過後の前記移動体の存在確率分布を求め、自車との接触確率分布から前記接触領域を予測するように構成されている、請求項１記載の車両用対人保護システム。   The contact possibility determination means obtains the predicted contact time of the moving object and the existence probability distribution of the moving object after elapse of the predicted contact time based on the state quantity of the moving object and its error variance and the own vehicle course, The person protection system for vehicles according to claim 1 constituted so that said contact field may be predicted from contact probability distribution with a self-vehicle. 前記撮像手段はステレオカメラを含み、前記移動体検出手段は、前記ステレオカメラの視差画像から立体物を検知し、その画像特徴から歩行者と二輪車を検出する画像処理手段を含む、請求項１記載の車両用対人保護システム。   2. The imaging device includes a stereo camera, and the moving body detection unit includes an image processing unit that detects a three-dimensional object from a parallax image of the stereo camera and detects a pedestrian and a two-wheeled vehicle from the image feature. Personal protection system for vehicles. 前記撮像手段は単眼カメラを含み、前記移動体検出手段は、前記単眼カメラの画像と、ミリ波レーダーの検知情報から立体物を検知し、その画像特徴から歩行者と二輪車を検出する画像処理手段を含む、請求項１記載の車両用対人保護システム。   The image pickup means includes a monocular camera, and the moving body detection means detects a three-dimensional object from the image of the monocular camera and detection information of millimeter wave radar, and detects an pedestrian and a two-wheeled vehicle from the image characteristics. The personal protection system for vehicles according to claim 1, comprising: 前記接触可能性判定手段は、時系列フィルタを用いて前記移動体の状態量を算出する状態量算出手段を含む、請求項１記載の車両用対人保護システム。   The vehicular interpersonal protection system according to claim 1, wherein the contact possibility determination unit includes a state amount calculation unit that calculates a state amount of the moving body using a time series filter.
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