Behavior prediction method, behavior prediction apparatus and vehicle control apparatus

A behavior prediction apparatus for predicting a behavior of an object around a vehicle, the apparatus comprising:

• a sensor for detecting objects around the vehicle;
• and
• an information processing circuit forming part of a computer system for predicting the behavior of a first object of the objects around the vehicle, wherein the information processing circuit:
• specifies a first object that affects a behavior of the vehicle among the objects;
• performs a prediction process that includes a process of extracting a second object that affects a behavior of the first object among a plurality of objects present around the first object and predicting a behavior of the second object and the process of setting the extracted second object as a new first object, extracting a new second object that affects a behavior of the new first object and predicting a behavior of the new second object, repeats the prediction process by a predetermined number of times;
• predicts the behavior of the first object in a first prediction process based on a behavior of n (n:
• a natural number corresponding to the predetermined number of times) second objects subjected to the prediction process;
• and
• controls the vehicle based on the predicted behavior of the first object.

A vehicle control apparatus comprising:

• a sensor for detecting objects around a vehicle;
• and
• an information processing circuit for predicting a behavior of a first object of the objects and controlling the vehicle based on the behavior of the first object, wherein the information processing circuit:
• specifies the first object that affects a behavior of the vehicle among the objects;
• performs a prediction process that includes a process of extracting a second object that affects a behavior of the first object among a plurality of objects present around the first object and predicting a behavior of the second object and a process of setting the extracted second object as a new first object, extracting a new second object that affects a behavior of the new first object, and predicting a behavior of the new second object;
• repeats the prediction process by a predetermined number of times;
• predicts the behavior of the first object in the first prediction process based on a behavior of the n (n:
• a natural number corresponding to the predetermined number of times) second objects subjected to the prediction process;
• and
• controls the host-vehicle based on the predicted behavior of the first object.