| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a moving body prediction apparatus, program and method for improving accuracy of predicting a future position of a moving body. <P>SOLUTION: A controller 3 of a moving body prediction apparatus 1 includes: a moving body recognition part 4 that recognizes a moving body existing in an environment around a vehicle, on the basis of data detected by a recognition sensor 2; a moving body motion acquiring part 5 that acquires a motion state of the moving body; a moving body attribute determination part 6 that determines an attribute of the moving body; a move characteristics deciding part 7 that decides move characteristics of the moving body, on the basis of the motion state and the attribute of the moving body; a road environment recognition part 8 that recognizes a road environment around the vehicle, on the basis of the data detected by the recognition sensor 2; a road attribute recognition part 9 that recognizes an attribute of the road; a presence possibility map generation part 10 that generates a presence possibility map of the moving body with respect to the attribute of the road; and a moving body prediction part 11 that corrects the move characteristics of the moving body using the presence possibility map of the moving body to predict a future position of the moving body. <P>COPYRIGHT: (C)2012,JPO&INPIT |
