To provide an action prediction device and automatic driving device, capable of improving prediction accuracy of a traffic participant's action.SOLUTION: An action prediction device 1 calculates a prediction velocity V(k+n), a prediction X-coordinate value X(k+n) and a prediction Y-coordinate value Y(k+n) of a traffic participant, using models (equations (12), (21), (22) including an estimated acceleration α and an estimated curvature ρ of the traffic participant, calculates a velocity interference function value Pv_j and a track interference function value Pt_j expressing a degree of interference with a traffic participant which is an interference object around the traffic participant and determines an estimated acceleration α and an estimated curvature ρ so that the degree of interference decreases.SELECTED DRAWING: Figure 18A
【課題】交通参加者の行動の予測精度を向上させることができる行動予測装置及び自動運転装置を提供する。【解決手段】行動予測装置1は、交通参加者の推定加速度α及び推定曲率ρを含むモデル(式(12),(21),(22))を用いて、交通参加者の予測速度V(k+n)、予測X座標値X(k+n)及び予測Y座標値Y(k+n)を算出し、交通参加者の周辺における干渉対象の交通参加者との干渉度合いを表す速度干渉関数値Pv_j及び軌道干渉関数値Pt_jを算出し、干渉度合いが減少するように、推定加速度α及び推定曲率ρを決定する。【選択図】図18A
ACTION PREDICTION DEVICE AND AUTOMATIC DRIVING DEVICE
行動予測装置及び自動運転装置
2019-12-26
Patent
Elektronische Ressource
Japanisch
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