A behavior prediction method for predicting a behavior of an object around a vehicle (Va), the method comprising: detecting, by a sensor , a plurality of objects around the vehicle (Va); calculating course candidates for each of the plurality of objects based on map information, detection results of the objects present around the vehicle (Va), information on positions of the vehicle (Va), and traffic rules; specifying a first object that affects a behavior of the vehicle (Va) among the plurality of detected objects based on whether a course of the vehicle (Va) intersects a course candidate of the first object; performing a prediction process that includes a process of specifying a first course candidate that affects the behavior of the vehicle among course candidates of the first object, extracting, as a second object that affects a behaviors of the first object, an object having the course candidate that may affect a course of the first course candidate among the plurality of objects present around the first object and predicting a behavior of the second object; and a process of setting the extracted second object as a new first object, extracting a new second object that affects a behavior of the new first object, and predicting a behavior of the new second object; repeating the prediction process by a predetermined number of extraction times; and predicting the behavior of the first object during the first prediction process based on each behavior of the second object predicted by each of the n prediction processes, wherein n is a natural number corresponding to the predetermined number of times. detecting, by a sensor , a plurality of objects around the vehicle (Va); calculating course candidates for each of the plurality of objects based on map information, detection results of the objects present around the vehicle (Va), information on positions of the vehicle (Va), and traffic rules; specifying a first object that affects a behavior of the vehicle (Va) among the plurality of detected objects based on whether a course of the vehicle (Va) intersects a course candidate of the first object; performing a prediction process that includes a process of specifying a first course candidate that affects the behavior of the vehicle among course candidates of the first object, extracting, as a second object that affects a behaviors of the first object, an object having the course candidate that may affect a course of the first course candidate among the plurality of objects present around the first object and predicting a behavior of the second object; and a process of setting the extracted second object as a new first object, extracting a new second object that affects a behavior of the new first object, and predicting a behavior of the new second object; extracting, as a second object that affects a behaviors of the first object, an object having the course candidate that may affect a course of the first course candidate among the plurality of objects present around the first object and predicting a behavior of the second object; and a process of setting the extracted second object as a new first object, extracting a new second object that affects a behavior of the new first object, and predicting a behavior of the new second object; repeating the prediction process by a predetermined number of extraction times; and predicting the behavior of the first object during the first prediction process based on each behavior of the second object predicted by each of the n prediction processes, wherein n is a natural number corresponding to the predetermined number of times. <EOS>