Collision reducing device

A collision reducing device comprising:

• a sensor that detects an object existing about an own vehicle;
• and
• an ECU that is configured to:
• determine whether a number of a collision possibility between the object and the own vehicle exceeds a first reference value by more than a first number of times or more in a first number of frames,
• determine whether or not to reduce collision influence in accordance with the collision possibility determination based on a second reference value that is a second number of times or more in a second number of frames, the second number being greater than the first number,
• select one of a first actuating unit and a second actuating unit in accordance with a time to collision, and
• configured to reduce the collision influence based on selected actuating.

A collision reducing method comprising:

• detecting information about an own vehicle;
• detecting an object existing in the information;
• controlling, by a first actuating unit, the own vehicle to reduce collision influence in accordance with whether a number of a collision possibility between the object and the own vehicle exceeds a first reference value by more than a first number of times in a first number of frames;
• controlling, by a second actuating unit, the own vehicle to reduce collision influence in accordance with whether a number of the collision possibility exceeds the first reference value by more than a second number of times in a second number of frames, the second number being greater than the first number;
• selecting one of the first actuating unit and the second actuating unit in accordance with the collision possibility and a second reference value of a time to collision;
• and
• controlling the own vehicle to reduce collision influence based on selected actuating.