Information processing apparatus, vehicle, information processing method, and computer program product

An information processing method, comprising:

• acquiring a dynamic state relating to traveling of a moving object entering an intersection, the dynamic state including observation data of a speed of the moving object at least at one point in time;
• acquiring intersection information indicating a configuration of the intersection;
• specifying a reference route along which the moving object is predicted to travel at the intersection, based on the dynamic state and the intersection information;
• detecting a speed control point that is a position included in the specified reference route;
• generating, based on the dynamic state and the intersection information, a first speed model representing a temporal change in a predicted speed of the moving object up to the speed control point and having the speed at the speed control point being locally minimized, and a second speed model representing a temporal change in the predicted speed of the moving object after the speed control point and having the speed at the speed control point being locally minimized;
• and
• generating and displaying, on a display of a vehicle, a predicted trajectory of the moving object, based on the first speed model and the second speed model,
• wherein the step of generating of the first speed model further includes
• estimating an initial estimated speed of the moving object at the speed control point;
• and
• optimizing the first speed model to reduce an error with respect to the initial estimated speed of the moving object at the speed control point and the observation data of the speed of the moving object at least at the one point in time.

A non-transitory computer-readable medium containing a computer program that, when executed by a computer, causes the computer to execute a method comprising:

• acquiring a dynamic state relating to traveling of a moving object entering an intersection, the dynamic state including observation data of a speed of the moving object at least at one point in time;
• acquiring intersection information indicating a configuration of the intersection;
• specifying a reference route along which the moving object is predicted to travel at the intersection, based on the dynamic state and the intersection information;
• detecting a speed control point that is a position included in the specified reference route;
• generating, based on the dynamic state and the intersection information, a first speed model representing a temporal change in a predicted speed of the moving object up to the speed control point and having the speed at the speed control point being locally minimized, and a second speed model representing a temporal change in the predicted speed of the moving object after the speed control point and having the speed at the speed control point being locally minimized;
• and
• generating and displaying, on a display of a vehicle, a predicted trajectory of the moving object, based on the first speed model and the second speed model,
• wherein the step of generating the first speed model further includes
• estimating an initial estimated speed of the moving object at the speed control point;
• and
• optimizing the first speed model to reduce an error with respect to the initial estimated speed of the moving object at the speed control point and the observation data of the speed of the moving object at least at the one point in time.