Information processing apparatus, information processing method, and recording medium

An information processing method, comprising:

• controlling recognition of a surrounding environment of a target object to obtain a recognition result;
• detecting a position of the target object to obtain a detection result;
• switching between a first process and a second process to predict a movement of the target object;
• predicting, in the first process, the movement of the target object based on:
• a history of chronological detection results of a plurality of positions of the target object, and
• the recognition result of the surrounding environment of the target object;
• controlling, in the second process, a chronological range related to the prediction of the movement of the target object at a detection timing of the detection of the position of the target object and after the detection timing,
• wherein the chronological range is controlled based on the detection result and the recognition result;
• predicting, in the second process, the movement of the target object each of at the detection timing and after the detection timing based on:
• the control of the chronological range, and
• the history of the chronological detection results of the plurality of positions of the target object;
• and
• controlling presentation of display information in a display mode, wherein the display mode corresponds to one of:
• the predicted movement of the target object in the first process, or
• the predicted movement of the target object in the second process.

A non-transitory computer-readable medium having stored thereon, computer-executable instructions, which when executed by a computer, cause the computer to execute operations, the operations comprising:

• controlling recognition of a surrounding environment of a target object to obtain a recognition result;
• detecting a position of the target object to obtain a detection result;
• switching between a first process and a second process to predict a movement of the target object;
• predicting, in the first process, the movement of the target object based on:
• a history of chronological detection results of a plurality of positions of the target object, and
• the recognition result of the surrounding environment of the target object;
• controlling, in the second process, a chronological range related to the prediction of the movement of the target object at a detection timing of the detection of the position of the target object and after the detection timing,
• wherein the chronological range is controlled based on the detection result and the recognition result;
• predicting, in the second process, the movement of the target object each of at the detection timing and after the detection timing based on:
• the control of the chronological range, and
• the history of the chronological detection results of the plurality of positions of the target object;
• and
• controlling presentation of display information in a display mode, wherein the display mode corresponds to one of:
• the predicted movement of the target object in the first process, or
• the predicted movement of the target object in the second process.

An information processing apparatus, comprising:

• a Central Processing Unit (CPU) configured to:
• control recognition of a surrounding environment of a target object to obtain a recognition result;
• detect a position of the target object to obtain a detection result;
• estimate a collision of the target object with a specific object, wherein the specific object is different from the target object;
• limit a chronological range related to estimation of a movement of the target object to a range corresponding to a timing at which the collision is estimated to occur and before the timing at which the collision is estimated to occur,
• wherein the chronological range is limited based on the detection result, the recognition result, and at least one of a positional relationship between the target object and the specific object, a frictional force that acts on the target object, or an external force that acts on the target object;
• estimate the movement of the target object based on the limited chronological range, a history of chronological detection results of a plurality of positions of the target object, and the recognition result;
• and
• control presentation of display information in a display mode, wherein the display mode corresponds to an estimation result of the estimation of the movement of the target object.