US 12,142,146 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 Dec. 30, 2022, as Appl. No. 18/148,906.
Application 18/148,906 is a continuation of application No. 17/453,796, filed on Nov. 5, 2021, granted, now 11,995,988.
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 2023/0137183 A1, May 4, 2023
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)] 4 Claims
OG exemplary drawing
 
1. A vehicular environment estimation device of a vehicle comprising:
an electronic control unit configured to:
detect a route of a mobile object in surroundings of the vehicle on the basis of the mobile object detected by a sensor of the vehicle;
estimate a behavior of an undetected object in a blind area of the vehicle on the basis of the detected route of the mobile object;
predict a plurality of routes of the mobile object on the basis of the estimated behavior of the undetected object;
compare each of the predicted routes of the mobile object with the detected routes of the mobile object;
set an evaluation of each of the predicted routes of the mobile object higher the closer the predicted route of the mobile object compares to the detected routes of the mobile object;
predict a route of the mobile object based upon the evaluations; and
carry out drive control of the vehicle on the basis of the predicted route of the mobile object, wherein
the undetected object in the blind area of the vehicle is different from the mobile object,
the undetected object in the blind area of the vehicle is a moving object on a road intersecting a road on which the vehicle travels, and
the undetected object in the blind area of the vehicle has not yet been detected.