Behavior Prediction Method and Behavior Prediction Device for Mobile Unit, and Vehicle

A behavior prediction device for a mobile unit comprising a controller configured to perform:

• processing of determining a position of a host vehicle;
• processing of determining a position of another vehicle in a second travel lane, the second travel lane being an opposite lane to a first travel lane in which the host vehicle travels;
• processing of detecting an intersecting passage intersecting the second travel lane at a position ahead of the host vehicle and having an exit from which a vehicle comes out from the outside of the second travel lane, the exit facing the second travel lane;
• processing of determining whether or not the another vehicle is located within a predetermined range from an intersection position of the intersecting passage and the second travel lane to a point away from the intersection position by a predetermined distance in an opposite direction to a traveling direction of a vehicle in the second travel lane and the another vehicle is in either state of a stopped state and a decelerated state;
• and
• processing of, when the another vehicle is located within the predetermined range and the another vehicle is in the either state of a stopped state and a decelerated state, predicting that there is a probability that a mobile unit advances from the exit and enters the first travel lane from the intersecting passage.