Environment prediction device
An environment prediction device can acquire sufficient information regarding the behavior of an object in the vicinity of a host-vehicle for appropriate traveling assistance. An environment prediction device 1 includes a road information acquisition section 4 which acquires road information regarding a road A, a host-vehicle position prediction section 61 which predicts the position of a host-vehicle 81 after a predetermined time has elapsed, and a prediction period setting section 62 which sets a prediction period T on the basis of the road information and the position of the host-vehicle 81 after the predetermined time has elapsed. With this configuration, it is possible to acquire sufficient information regarding the behavior of an object in the vicinity of the host-vehicle.
1. An environment prediction device for detecting an object in the vicinity of a host-vehicle, the environment prediction device comprising:
a road information acquisition unit which acquires information regarding a road;
a host-vehicle position prediction unit which predicts the position of the host-vehicle after a predetermined time has elapsed;
a prediction period setting unit which sets a prediction period on the basis of the information regarding the road and the position of the host-vehicle after the predetermined time has elapsed; and
an environment prediction unit which predicts the behavior of the object in the vicinity of the host-vehicle until the prediction period elapses;
wherein, when upon the elapse of the predetermined time the position of the host-vehicle is in violation of a traffic rule acquired from the information regarding the road, the prediction period setting unit sets the prediction period longer than when the position of the host-vehicle observes the traffic rule.
2. The environment prediction device according to claim 1 , further comprising:
an obstacle information acquisition unit which acquires obstacle information in the traveling direction of the host-vehicle,
wherein the prediction period setting unit sets the prediction period also in consideration of the obstacle information.
3. The environment prediction device according to claim 1 ,
wherein the prediction period setting unit sets, as the prediction period, a period until the position of the host-vehicle satisfies a predetermined condition.
4. The environment prediction device according to claim 3 ,
wherein the prediction period setting unit sets, as the prediction period, a period until the host-vehicle reaches a position where the host-vehicle does not interfere with the route of another vehicle.
5. The environment prediction device according to claim 1 , further comprising:
a behavior plan acquisition unit which acquires a behavior plan of the host-vehicle,
wherein the host-vehicle position prediction unit predicts the position of the host-vehicle on the basis of the behavior plan.
6. The environment prediction device according to claim 1 ,
wherein the prediction period setting unit sets the prediction period longer than the predetermined time.
7. The environment prediction device according to claim 1 ,
wherein the host-vehicle position prediction unit limits prediction to a position where the host-vehicle is not deviated from the traffic rule.