Patent ID: 8483944

Claim:
A collision determination device which is mounted on a vehicle and determines existence or non-existence of a possibility of a collision with another vehicle, the collision determination device comprising: a trajectory estimating section that estimates a traveling trajectory which is a trajectory to be traveled in the future by a representation point of the another vehicle; a possibility determination section that determines whether or not there is a possibility of a collision with the another vehicle depending on whether or not the another vehicle intersects an own-vehicle, when the another vehicle having preconfigured vehicle width and vehicle length moves on the traveling trajectory estimated by the trajectory estimating section; a traveling direction determination section that determines whether or not at least one of the own-vehicle and the another vehicle is traveling in a curved path; and a condition changing section that changes a collision determination condition, which is a condition for the possibility determination section to determine that there is a possibility of a collision, so as to be strict, by reducing at least one of a vehicle width and a vehicle length of the another vehicle when the traveling direction determination section determines that traveling in a curved path is in progress.