US 11,756,418 B2
Device, method, and storage medium
Jovin Dsa Jeevan, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Oct. 13, 2020, as Appl. No. 17/68,846.
Claims priority of application No. 2019-191026 (JP), filed on Oct. 18, 2019; and application No. 2020-141958 (JP), filed on Aug. 25, 2020.
Prior Publication US 2021/0118289 A1, Apr. 22, 2021
Int. Cl. G08G 1/01 (2006.01); G08G 1/015 (2006.01); G08G 1/052 (2006.01); G08G 1/065 (2006.01)
CPC G08G 1/0145 (2013.01) [G08G 1/015 (2013.01); G08G 1/0133 (2013.01); G08G 1/052 (2013.01); G08G 1/065 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A device, comprising:
a storage device configured to store a program; and
a hardware processor,
wherein, the hardware processor executes the program stored in the storage device to:
recognize positions of a plurality of traffic participants;
determine a temporary goal which each of the plurality of traffic participants is trying to reach in the future, based on the recognition results; and
simulate a movement process in which each of the plurality of traffic participants moves toward the temporary goal using a movement model to estimate an action in the future of each of the plurality of traffic participants;
wherein, for each of the plurality of traffic participants, the hardware processor sets a plurality of temporary goal candidates based on histories of the recognized positions of the plurality of traffic participants and information indicating a road structure, and
obtains a deviation between the results of a simulation in which each of the traffic participants moves to each of the plurality of temporary goal candidates and a movement direction based on a posture of the traffic participants, and determines, as the temporary goal, a temporary goal candidate having the smallest deviation.