# US 2026/0093262 A1 · Information processing apparatus, information processing method, mobile object, storage medium, and system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0093262 A1 - Document ID: US20260093262A1 - Status: Published application - Kind: A1 - Application number: 19/332,165 - Filed: 2025-09-18 - Published: 2026-04-02 - Earliest claimed: 2024-09-30 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Akane IMAIZUMI; Sango MATSUZAKI - Web page: https://patentgrep.com/patent/US20260093262A1 ## CPC - G05D 1/633: Dynamic obstacles - G05D 1/686: Maintaining a relative position with respect to moving targets, e.g. following animals or humans (for pointing payloads towards targets G05D1/689; involving controlling the position or course of two or more vehicles G05D1/69) - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G05D 2105/315: {for guiding or for guest attention} - G05D 2109/10: Land vehicles - G06T 2207/30241: Trajectory - G06T 2207/30261: Obstacle - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An information processing apparatus is configured to estimate a destination of movement of a dynamic object. The information processing apparatus selects a plurality of geographic locations from a vicinity of the dynamic object, uses a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations, reselects the plurality of geographic locations based on the likelihood of each geographic location, and estimates the destination based on the plurality of reselected geographic locations. The likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object. ## Claims ### Claim 1 An information processing apparatus configured to estimate a destination of movement of a dynamic object, the information processing apparatus comprising: a selection unit configured to select a plurality of geographic locations from a vicinity of the dynamic object; a calculation unit configured to use a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations; a reselection unit configured to reselect the plurality of geographic locations based on the likelihood of each geographic location; and an estimation unit configured to estimate the destination based on the plurality of reselected geographic locations, wherein the likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object. ### Claim 2 (depends on 1) The information processing apparatus according to claim 1, wherein the likelihood function is based on a movement direction of the dynamic object. ### Claim 3 (depends on 2) The information processing apparatus according to claim 2, wherein the movement direction of the dynamic object is decided based on an orientation of a body of the dynamic object. ### Claim 4 (depends on 2) The information processing apparatus according to claim 2, wherein the likelihood function outputs a larger value as an angle formed by the movement direction of the dynamic object and a direction from the dynamic object toward each geographic location is smaller. ### Claim 5 (depends on 1) The information processing apparatus according to claim 1, wherein the likelihood function is based on whether each geographic location overlaps a static obstacle. ### Claim 6 (depends on 5) The information processing apparatus according to claim 5, wherein the likelihood function outputs a larger value in a case where each geographic location overlaps the static obstacle than in a case where each geographic location does not overlap the static obstacle. ### Claim 7 (depends on 1) The information processing apparatus according to claim 1, wherein the likelihood function is based on a trajectory along which the dynamic object is predicted to move to reach each geographic location. ### Claim 8 (depends on 7) The information processing apparatus according to claim 7, wherein the likelihood function outputs a larger value as an angle formed by the trajectory and the movement direction of the dynamic object is smaller. ### Claim 9 (depends on 1) The information processing apparatus according to claim 1, wherein the likelihood function is based on a movement direction of the dynamic object, whether each geographic location overlaps a static obstacle, and a trajectory along which the dynamic object is predicted to move to reach each geographic location. ### Claim 10 (depends on 1) The information processing apparatus according to claim 1, further comprising: a control unit configured to control movement of a mobile object including a sensor configured to observe the dynamic object, based on the estimated geographic location. ### Claim 11 (depends on 1) A mobile object comprising: the information processing apparatus according to claim 1; and a sensor configured to observe a dynamic object. ### Claim 12 (depends on 1) A non-transitory computer-readable storage medium storing a program for causing a computer to function as the information processing apparatus according to claim 1. ### Claim 13 An information processing method executed by a computer to estimate a destination of movement of a dynamic object, the information processing method comprising: selecting a plurality of geographic locations from a vicinity of the dynamic object; using a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations using a likelihood function; reselecting the plurality of geographic locations based on the likelihood of each geographic location; and estimating the destination based on the plurality of reselected geographic locations, wherein the likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object. ### Claim 14 A system configured to estimate a destination of movement of a dynamic object, the system comprising: a selection unit configured to select a plurality of geographic locations from a vicinity of the dynamic object; a calculation unit configured to use a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations; a reselection unit configured to reselect the plurality of geographic locations based on the likelihood of each geographic location; and an estimation unit configured to estimate the destination based on the plurality of reselected geographic locations, wherein the likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object.