Patent ID: 11900690
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 5:
6. A controller for controlling travel of a vehicle, the controller comprising:
a processor configured to: input time series images into a first classifier to detect object regions each including another vehicle equipped with a signal light in the respective images, the first classifier having been trained to detect the other vehicle;
chronologically input characteristics obtained from pixel values of the object regions detected in the respective images into a second classifier to calculate confidence scores of possible candidate states of the signal light of the other vehicle, the second classifier having a recursive structure or performing a convolution operation in a temporal direction;
identify the state of the signal light, based on the preceding state of the signal light, information indicating whether transitions between the candidate states are allowed, and the confidence scores of the respective candidate states;
predict a trajectory on which the other vehicle will travel, based on the state of the signal light;
determine a trajectory to be traveled of the vehicle, based on the predicted trajectory, so that the vehicle will be separated from the other vehicle more than a predetermined distance; and
control the vehicle so that the vehicle will travel along the trajectory to be traveled.