Patent ID: 7864032

Claim:
A collision determination device, comprising: three-dimensional object detection means for detecting a three-dimensional object; current state processing means for calculating current motion and positional states of the three-dimensional object, based at least on a current detected data of the three-dimensional object, as probability distributions by a statistical process; state estimation means for estimating motion and positional states of the three-dimensional object after a preset time period, by a statistical process, based on the calculated current motion and positional states in relationship to a subject vehicle; and contact probability calculation means for calculating a probability of contact with the three-dimensional object based on the estimated positional state of the three-dimensional object as a probability distribution after the preset time period, wherein the current state processing means calculates the current motion and positional states as a normal distribution having axes on a true value, and wherein the contact probability calculation means calculates the probability of contact based on an integration of the estimated positional state of the three-dimensional object, and a range of the integration is determined based on a position of the subject vehicle after the preset time period, where the estimated positional state of the three-dimensional object is calculated in relation to current motion and position data of the subject vehicle.