US 11,941,985 B2
Vehicular environment estimation device
Katsuhiro Sakai, Hadano (JP); Hiromitsu Urano, Susono (JP); and Toshiki Kindo, Yokohama (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 5, 2021, as Appl. No. 17/453,775.
Application 17/453,775 is a continuation of application No. 15/293,674, filed on Oct. 14, 2016, granted, now 11,568,746.
Application 15/293,674 is a continuation of application No. 13/320,706, granted, now 9,501,932, issued on Nov. 22, 2016, previously published as PCT/JP2010/057779, filed on Apr. 26, 2010.
Claims priority of application No. 2009-120015 (JP), filed on May 18, 2009.
Prior Publication US 2022/0058948 A1, Feb. 24, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/16 (2006.01)
CPC G08G 1/161 (2013.01) [G08G 1/166 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicular environment estimation device comprising:
a sensor disposed on a vehicle and configured to detect a mobile object in a surrounding of the vehicle; and
an electronic control unit disposed on the vehicle and configured to estimate an environment of a blind area of the vehicle on the basis of the mobile object detected by the sensor,
wherein the electronic control unit is configured to:
detect a behavior of the mobile object in the surroundings of the vehicle on the basis of an information of the mobile object;
estimate a plurality of behaviors of an undetected object other than the mobile object of the blind area of the vehicle;
estimate a plurality of behaviors of the mobile object based upon the plurality of behaviors of the undetected object other than the mobile object of the blind area of the vehicle;
predict a route of the mobile object on the basis of the detected behavior of the mobile object and the estimated behaviors of the mobile object; and
carry out a drive assistance control to a driver of the vehicle on the basis of the predicted route of the mobile object.