Vehicle, traffic signal control method, and program

A traffic signal control method, comprising:

• recognizing presence of a traffic signal installed in a travel route of an own vehicle, another vehicle traveling around the own vehicle, and another mobile object around the own vehicle based on a detection result of a sensor that detects the traffic signal, the other vehicle, and the other mobile object;
• determining, after recognizing that the own vehicle has passed the traffic signal, whether or not there are the other mobile object moving toward the traffic signal and the other vehicle moving beside the other mobile object toward the traffic signal;
• estimating a traveling state of the other vehicle;
• communicating with the traffic signal;
• and
• controlling, when determining that there are the other mobile object moving toward the traffic signal and the other vehicle moving beside the other mobile object toward the traffic signal, the traffic signal based on the estimated traveling state of the other vehicle.

A non-transitory computer readable medium storing a program for causing a computer to perform functions, the functions comprising:

• recognizing presence of a traffic signal installed in a travel route of an own vehicle, another vehicle traveling around the own vehicle, and another mobile object around the own vehicle based on a detection result of a sensor that detects the traffic signal, the other vehicle, and the other mobile object;
• determining, after recognizing that the own vehicle has passed the traffic signal, whether or not there are the other mobile object moving toward the traffic signal and the other vehicle moving beside the other mobile object toward the traffic signal;
• estimating a traveling state of the other vehicle;
• communicating with the traffic signal;
• and
• controlling, when determining that there are the other mobile object moving toward the traffic signal and the other vehicle moving beside the other mobile object toward the traffic signal, the traffic signal based on the estimated traveling state of the other vehicle.