US 2010/0063735 A1 · METHOD, APPARATUS AND PROGRAM OF PREDICTING OBSTACLE COURSE

Abstract

A method, an apparatus, and a program of predicting an obstacle course, capable of appropriately predicting a course of an obstacle even under a complicated traffic environment, are provided. For this purpose, the course, which the obstacle may take, is predicted based on the position and the internal state of the obstacle, and at the time of the prediction, a plurality of courses are probabilistically predicted for at least one obstacle. When there are a plurality of obstacles, the course in which different obstacles interfere with each other is obtained from the predicted courses, which a plurality of obstacles may take, and the predictive probability of the course for which the probabilistic prediction is performed from the courses in which they interfere with each other is lowered. Probability of realizing each of a plurality of courses including the course of which predicted probability is lowered is calculated.

Claims17

Dependent claims

An obstacle course prediction method, which a computer predicts a course of the obstacle, the computer providing a memory unit that memorizes at least a position and an internal state of an obstacle present within a predetermined area from a mobile object, the method comprising:

performing prediction of a course, which the obstacle may take, based on the position and the internal state of the obstacle read from the memory unit, and performing probabilistic prediction of a plurality of courses, which the obstacle may take, for at least one of the obstacles at the time of the prediction;
obtaining a course in which the obstacles interfere with each other within the courses, which a plurality of the obstacles predicted at the course predicting may take, and lowering predicted probability of the course for which the probabilistic prediction is performed within the interfering courses, when there are a plurality of the obstacles;
and
calculating probability of realizing each of the plurality of courses including the course in which the predicted probability is lowered at the course interference assessing.

1 more element

An obstacle course prediction apparatus that predicts a course of an obstacle existing around a mobile object, comprising:

a memory unit that memorizes at least a position and an internal state of the obstacle present within a predetermined area from the mobile object;
a course predicting unit that performs prediction of a course, which the obstacle may take, based on the position and the internal state of the obstacle read from the memory unit, and performs probabilistic prediction of a plurality of courses, which the obstacle may take, for at least one of the obstacles at the time of the prediction;
a course interference assessing unit that obtains a course in which the obstacles interfere with each other within the courses, which a plurality of the obstacles predicted at the course predicting unit may take, and lowers predicted probability of the course for which the probabilistic prediction is performed within the interfering courses, when there are a plurality of the obstacles;
and
a probability calculating unit that calculates probability of realizing each of the plurality of courses including the course in which the predicted probability is lowered at the course interference assessing unit.

2 more elements

Dependencies are inferred from the claim text.

Method, apparatus and program of predicting obstacle course

Life of this patent

Method, apparatus and program of predicting obstacle course

Life of this patent

Abstract

Claims17