To provide a behavior prediction method and a behavior prediction device capable of reducing a delay in predicting the behavior of a pedestrian even when the pedestrian speed changes suddenly due to a current display of a pedestrian signal installed at a cross walk.SOLUTION: A behavior prediction method and a behavior prediction device acquire a current display state of a traffic light associated with a cross walk that intersects a route on which a vehicle is scheduled to travel. In this case, the traffic light shall display at least one of the following: a permission sign to permit a pedestrian to cross the cross walk, a prohibition sign to prohibit crossing the cross walk, and an intermediate sign displayed after the permission sign and before the prohibition sign. Then, in calculating a likelihood of a pedestrian crossing the cross walk based on the acquired current display state and a timing at which the pedestrian arrives at the cross walk, a second likelihood calculated when the current display state is the intermediate display is set larger than a first likelihood calculated when the current display state is the permission display.SELECTED DRAWING: Figure 1
【課題】横断歩道に設置された歩行者用信号の現示に起因して歩行者の速度が急変する場合でも、歩行者の挙動の予測の遅れを低減することができる挙動予測方法及び挙動予測装置を提供する。【解決手段】挙動予測方法及び挙動予測装置は、車両が走行予定の経路と交差する横断歩道に関連付けられる信号機の現示状態を取得する。ここで、信号機は、歩行者に対して、横断歩道の横断を許可する許可表示、横断歩道の横断を禁止する禁止表示、許可表示の後であって禁止表示の前に表示される中間表示、の少なくともいずれかを示す。そして、取得した現示状態及び当該横断歩道に歩行者が到達するタイミングに基づく、当該横断歩道を歩行者が横断する尤度の算出において、現示状態が許可表示である場合に算出される第1尤度よりも、現示状態が中間表示である場合に算出される第2尤度を大きく設定する。【選択図】図1
BEHAVIOR PREDICTION METHOD AND BEHAVIOR PREDICTION DEVICE
挙動予測方法及び挙動予測装置
2023-07-06
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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