Patent ID: 11866071
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A predicting device, comprising:
a memory that stores instructions; and
one or more processors that executes the instructions to:
recognize a state of a moving body,
predict a predicted position of the moving body at a future time based on the state of the moving body;
determine whether to set a first risk region or a second risk region larger than the first risk region for the moving body based on a deviation between a recognized position of the moving body and the predicted position of the moving body, wherein the recognized position of the moving body is determined based on a position point situated above an absolute coordinate representative of a center of gravity of a vehicle in which the predicting device is installed or a center of a drive axis of the vehicle,
recognize at a first time, the recognized position of the moving body at the first time,
predict at the first time, the predicted position of the moving body at a second time, the second time being after the first time,
recognize at the second time, an actual position of the moving body at the second time,
set the first risk region for the moving body in a case in which the deviation between the predicted position of the moving body at the second time predicted at the first time and the actual position of the moving body at the second time is less than a first predetermined degree,
set the second risk region for the moving body in a case in which the deviation between the predicted position of the moving body at the second time predicted at the first time and the actual position at the second time recognized at the second time is equal to or greater than the first predetermined degree, wherein the first risk region and the second risk region are set centering on the position of the moving body or centering on the predicted position of the moving body, and
control at least one of a speed and steering of the vehicle based on the first risk region or the second risk region.