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 |
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.
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