Prediction device, prediction method, and storage medium

Abstract

The invention provides a prediction device, a prediction method, and a storage medium capable of continuously predicting running loci of other vehicles in the future. The prediction device includes: arecognizer (130) recognizing a road structure and another vehicle in the vicinity of a subject vehicle; and a predictor (140) predicting a running locus of the other vehicle recognized by the recognizer in the future on the basis of the road structure recognized by the recognizer in a predetermined situation, wherein, in the predetermined situation, in a case in which at least a part of the roadstructure used for predicting the running locus of the other vehicle in the future is not recognizable for the recognizer, the predictor predicts the running locus of the other vehicle in the future on the basis of a running locus of the other vehicle in the past acquired on the basis of a result of recognition in the past that is acquired by the recognizer.

Description

technical field [0001] The present invention relates to a prediction device, a prediction method and a storage medium. Background technique [0002] Conventionally, studies have been conducted on predicting the trajectories of other vehicles to predict the approach of the own vehicle to other vehicles, and to use it for various purposes. For example, Japanese Patent Application Laid-Open No. 2011-209919 describes the technique of determining the expected travel route of the host vehicle based on the current position of the host vehicle and map data, and setting the position of the intersection point map creation point on the expected travel route. , predict the orientation of the vehicle at each point based on the expected trajectory of each point, and determine the attention area that should be paid attention to when driving, and calculate the presence of attention observed from the vehicle at the intersection point map creation point in the predicted orientation The direc...

AI Technical Summary

Problems solved by technology

In order to recognize the road structure, it is necessary to recognize the structure that divides the road, such as curbs, road dividing lines, etc., using a camera, laser radar, etc. In the scene, the structure enters the blind spot of the oncoming vehicle and becomes unrecognizable

Therefore, in the existing technology, there are cases where it is impossible to continuously predict the future travel trajectories of other vehicles

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