Behavior prediction device

A behavior prediction device that predicts a future behavior of a moving object around a vehicle, the moving object being detected by the vehicle, the behavior prediction device comprising:

• a database that stores a plurality of behavior models set for each behavior pattern corresponding to a type of the moving object;
• a memory that stores position data and speed data of the moving object and error data indicating an error of the position data and the speed data;
• and
• a processor, wherein:
• the processor is configured to execute
• a distribution calculation process of calculating a probability density distribution related to a future position of the moving object for each of the behavior patterns using the position data, the speed data, the error data, and the behavior models,
• a similarity level calculation process of calculating a similarity level between the probability density distribution and a reference probability density distribution for each of the behavior patterns, the reference probability density distribution indicating the probability density distribution calculated using the behavior model corresponding to a current behavior of the moving object at a processing timing prior to a current processing timing of the distribution calculation process,
• a similarity level evaluation process of evaluating the similarity level,
• an error data changing process of changing the error data based on the similarity level,
• a collision determination process of determining a collision between the vehicle and the moving object using the probability density distribution, and
• upon determination of the collision between the vehicle and the moving object, actuating at least one of a braking actuator and a steering actuator to cause the vehicle to perform a collision avoidance operation;
• the similarity level includes an out-of-range level that falls below a similarity allowable range;
• the similarity level includes a high similarity level that is present within the similarity allowable range and exceeds a high similarity threshold set within the similarity allowable range;
• in the similarity level evaluation process, the processor excludes the behavior pattern having the out-of-range level from a target of the collision determination process;
• in the error data changing process, the processor decreases the error data to be used at a next processing timing of the distribution calculation process using a high similarity model as compared with the error data used at the current processing timing of the distribution calculation process;
• and
• the high similarity model indicates the behavior model corresponding to the behavior pattern having the high similarity level.

A behavior prediction device that predicts a future behavior of a moving object around a vehicle, the moving object being detected by the vehicle, the behavior prediction device comprising:

• a database that stores a plurality of behavior models set for each behavior pattern corresponding to a type of the moving object;
• a memory that stores position data and speed data of the moving object and error data indicating an error of the position data and the speed data;
• and
• a processor, wherein:
• the processor is configured to execute
• a distribution calculation process of calculating a probability density distribution related to a future position of the moving object for each of the behavior patterns using the position data, the speed data, the error data, and the behavior models,
• a similarity level calculation process of calculating a similarity level between the probability density distribution and a reference probability density distribution for each of the behavior patterns, the reference probability density distribution indicating the probability density distribution calculated using the behavior model corresponding to a current behavior of the moving object at a processing timing prior to a current processing timing of the distribution calculation process,
• a similarity level evaluation process of evaluating the similarity level,
• a collision determination process of determining a collision between the vehicle and the moving object using the probability density distribution, and
• upon determination of the collision between the vehicle and the moving object, actuating at least one of a braking actuator and a steering actuator to cause the vehicle to perform a collision avoidance operation;
• the similarity level includes an out-of-range level that falls below a similarity allowable range;
• the similarity level includes a high similarity level that is present within the similarity allowable range and exceeds a high similarity threshold set within the similarity allowable range;
• in the similarity level evaluation process, the processor excludes the behavior pattern having the out-of-range level from a target of the collision determination process;
• the processor is further configured to execute a distribution recalculation process of recalculating the probability density distribution using a high similarity model indicating the behavior model corresponding to the behavior pattern having the high similarity level;
• in the distribution recalculation process, the processor executes a superposition of the probability density distribution calculated using the high similarity level at the current processing timing on the probability density distribution calculated using the high similarity level at a processing timing prior to the current processing timing;
• and
• in the collision determination process, the processor determines the behavior pattern having the high similarity level based on the probability density distribution after the superposition by the distribution recalculation process.