US 11,995,988 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. 17/453,796.
Application 17/453,796 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 2022/0058949 A1, Feb. 24, 2022
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 surrounding of the vehicle on the basis of an information of the mobile object;
estimate a display state of a traffic signal of the blind area of the vehicle;
predict a plurality of behaviors of the mobile object on the basis of the estimated display state of the traffic signal;
compare each of the predicted behaviors of the mobile object with the detected behavior of the mobile object;
set an evaluation of each of the predicted behaviors of the mobile object higher the closer the predicted behavior of the mobile object compares to the detected behavior of the mobile object;
predict a route of the mobile object based upon the evaluations; and
carry out a control of the vehicle on the basis of the predicted route of the mobile object.