Patent Document ID: 9727820
Application ID: 14372359
Patent Status: 1

Claim One:
1. A vehicle behavior prediction device for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle, the vehicle behavior prediction device includes a vehicle behavior prediction unit configured to: collect the traveling state information, input a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and predict vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of the plurality of kinds of probability distributions, it is determined whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero, the traveling state information further includes a traveling location in which the at least one value was detected, the traveling location includes one of traffic elements including an intersection, a curve, and a temporary stop position, the vehicle behavior prediction unit is further configured to: input the plurality of kinds of probability distributions as probability distributions obtained for each traveling location, and predict the vehicle behavior of the prediction-subject vehicle in a case where a traveling location of the prediction-subject vehicle has characteristics that are common with one of traveling locations in which the plurality of probability distributions were detected, the plurality of kinds of probability distributions includes a probability distribution at occurrence of specific vehicle behavior and a probability distribution at non-occurrence of the specific vehicle behavior, the vehicle behavior is deceleration behavior of the vehicle, and the vehicle behavior prediction unit is further configured to: collect information representing traveling speed and acceleration of the vehicle as the traveling state information, input a plurality of kinds of probability distributions obtained for each of traveling speed and acceleration of the vehicle, predict non-occurrence of the vehicle behavior using the probability distribution based on the traveling speed, and predict occurrence of the vehicle behavior using the probability distribution based on the acceleration.