Mobile object behavior prediction device, vehicle control device, and mobile object behavior prediction method

Abstract

To provide a mobile object behavior prediction device that predicts the behavior of a mobile object interacting with an own vehicle with high accuracy.SOLUTION: A mobile object behavior prediction device 200a includes: a model storage part; and a mobile object behavior prediction part 13a. The model storage part stores a mobile object behavior prediction model 131a which receives, as input, time-series information including position information of an own vehicle and mobile objects around the own vehicle at different times, and own vehicle state information that is information representing an operation or state of the own vehicle displayed by the own vehicle or an occupant of the own vehicle and recognizable by the mobile object, and outputs a behavior prediction result of the mobile objects around the own vehicle. The mobile object behavior prediction part 13a inputs the time-series information including the acquired position information of an own vehicle and mobile objects around the own vehicle, and the own vehicle state information that is information representing an operation or state of the own vehicle displayed by the own vehicle or an occupant of the own vehicle and recognizable by the mobile object, into the mobile object behavior prediction model 131a, and outputs a behavior prediction result of the mobile object.SELECTED DRAWING: Figure 3

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