Contact detecting device for a vehicle

A bumper sensor unit including a cord-shaped pressure sensitive sensor (10) is fixed around a bumper of a running device (20) to detect a contact of an obstacle based on a signal output from the cord-shaped pressure sensitive sensor (10). In that case, contact detecting means (27) comprises a filtering section (27a) for removing the oscillation frequency component of a contact detecting object from the signal output from the cord-shaped pressure sensitive sensor (10).