Collision prevention device

A collision prevention device for preventing collision between a vehicle and an obstacle by controlling a driving system of the vehicle, the collision prevention device comprising:

• an obstacle sensor which transmits one of a light wave, a radio wave and an ultrasonic wave to a predetermined obstacle detection area, and receives a reflected wave of the one of the light wave, the radio wave and the ultrasonic wave;
• an obstacle detection area setting unit which sets the obstacle detection area of the obstacle sensor;
• a detector which detects the obstacle in the obstacle detection area based on a detection result of the obstacle sensor;
• and
• a vehicle controller which controls the driving system of the vehicle based on a result of the detection of the detector, and according to the obstacle detection area set by the obstacle detection area setting unit,
• wherein the obstacle detection area setting unit sets the obstacle detection area by performing switching between a first obstacle detection area and a second obstacle detection area, the first obstacle detection area being an area in which an object having a predetermined height or less from a road surface cannot be detected, and the second obstacle detection area being an area which is wider than the first obstacle detection area and in which the object can be detected;
• and
• the vehicle controller performs brake control when the detector detects the obstacle in the first obstacle detection area, and performs torque suppression control when the detector detects an obstacle in the second obstacle detection area.