Patent ID: 8805601

Claim:
An object path prediction method for predicting a path of an object by a computer, having a storage unit that stores at least a position of the object and an internal state including a speed of the object, comprising: a trajectory generation step comprising: generating a trajectory, by a computer in a space-time constituted by time and space from changes of the position that can be taken by the object with a passage of time based on a read position and internal state of the object after reading the position and the internal state of the object from the storage unit; an operation selection step of selecting an operation performed on the object from a plurality of operations; an object operation step of causing the operation selected in the operation selection step to be performed for a predetermined period of time starting from a reference point in time; and a determination step of determining whether the position and the internal state of the object after the operation selected is performed in the object operation step satisfy control conditions concerning control of the object and movement conditions concerning movable areas of the object, wherein a set of processing from the operation selection step to the determination step is repeatedly performed until a trajectory generation time in which the trajectory is generated has been reached, and when, as a result of a determination in the determination step, the position and the internal state of the object does not satisfy the control conditions and the movement conditions, the reference point in time is not set forward before returning to the operation selection step; and a prediction step of probabilistically predicting the path of the object by using the trajectory generated in the trajectory generation step.