Prediction device, prediction method, and storage medium

1. A vehicle control device comprising a processor that executes instructions to:

recognize a road structure and another vehicle in the vicinity of a subject vehicle using at least one of a camera, a radar device, and a finder, wherein the road structure is determined by identifying a road partition line, a curbstone, a median strip, and a guardrail;

predict a running locus of the another vehicle in the future based on a point of start turning recognized based on the road structure, at least one point of finish turning predicted based on the road structure and a position of the another vehicle in a predetermined situation; and

perform automatic driving control by generating a target locus along which the subject vehicle runs in the future such that the target locus does not interfere with the predicted running locus of the another vehicle,

wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the another vehicle in the future is not recognized, the processor further executes instructions to predict the running locus of the another vehicle in the future based on a running locus of the another vehicle in the past acquired based on a result of recognition in the past,

wherein the predetermined situation is a situation in which the another vehicle changes a course at an intersection,

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future based on a position of an entrance of the intersection and at least one exit of the intersection through which the another vehicle passes, which are acquired from the recognized road structure, and predict the running locus of the another vehicle in the future based on the running locus of the another vehicle in the past in a case in which one or both of the positions of the entrance and the at least one exit are blocked,

wherein, the point of start turning includes the entrance of the intersection and the at least one point of finish turning includes the at least one exit of the intersection, and

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future by correcting a provisional running locus predicted from the running locus of the another vehicle in the past based on the position of the at least one exit in a case in which the position of the at least one exit is recognized, and the position of the entrance is not recognized.

2. The vehicle control device according to claim 1 ,

wherein the predetermined situation is a situation in which the another vehicle crosses a road and advances out of the road in a case in which the another vehicle is an oncoming vehicle.

3. A vehicle control device comprising a processor that executes instructions to:

recognize a road structure and another vehicle in the vicinity of a subject vehicle using at least one of a camera, a radar device, and a finder, wherein the road structure is determined by identifying a road partition line, a curbstone, a median strip, and a guardrail;

predict a running locus of the another vehicle in the future based on a point of start turning recognized based on the road structure, at least one point of finish turning predicted based on the road structure and a position of the another vehicle in a predetermined situation; and

perform automatic driving control by generating a target locus along which the subject vehicle runs in the future such that the target locus does not interfere with the predicted running locus of the another vehicle,

wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the another vehicle in the future is not recognized, the processor further executes instructions to predict the running locus of the another vehicle in the future based on a running locus of the another vehicle in the past acquired based on a result of recognition in the past,

wherein the predetermined situation is a situation in which the another vehicle changes a course at an intersection,

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future based on a position of an entrance of the intersection and at least one exit of the intersection through which the another vehicle passes, which are acquired from the recognized road structure, and predict the running locus of the another vehicle in the future based on the running locus of the another vehicle in the past in a case in which one or both of the positions of the entrance and the at least one exit are blocked,

wherein, the point of start turning includes the entrance of the intersection and the at least one point of finish turning includes the at least one exit of the intersection, and

wherein, in a case in which the position of the exit is not recognized, the processor further executes instructions to estimate the position of the at least one exit based on a running locus of a preceding vehicle in the past running in front of the another vehicle that is a target for predicting the running locus in the future and predict the running locus of the another vehicle in the future.

4. A vehicle control device comprising a processor that executes instructions to:

recognize a road structure and another vehicle in the vicinity of a subject vehicle using at least one of a camera, a radar device, and a finder, wherein the road structure is determined by identifying a road partition line, a curbstone, a median strip, and a guardrail;

predict a running locus of the another vehicle in the future based on a point of start turning recognized based on the road structure, at least one point of finish turning predicted based on the road structure and a position of the another vehicle in a predetermined situation; and

perform automatic driving control by generating a target locus along which the subject vehicle runs in the future such that the target locus does not interfere with the predicted running locus of the another vehicle,

wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the another vehicle in the future is not recognized, the processor further executes instructions to predict the running locus of the another vehicle in the future based on a running locus of the another vehicle in the past acquired based on a result of recognition in the past,

wherein the predetermined situation is a situation in which the another vehicle changes a course at an intersection,

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future based on a position of an entrance of the intersection and at least one exit of the intersection through which the another vehicle passes, which are acquired from the recognized road structure, and predict the running locus of the another vehicle in the future based on the running locus of the another vehicle in the past in a case in which one or both of the positions of the entrance and the at least one exit are blocked,

wherein, the point of start turning includes the entrance of the intersection and the at least one point of finish turning includes the at least one exit of the intersection, and

wherein, in a case in which the position of the exit is not recognized, the processor further executes instructions to estimate the position of the at least one exit based on the road structure on a side facing the at least one exit at the intersection and predict the running locus of the another vehicle in the future based on the estimated position of the at least one exit.

5. A vehicle control device comprising a processor that executes instructions to:

recognize a road structure and another vehicle in the vicinity of a subject vehicle using at least one of a camera, a radar device, and a finder, wherein the road structure is determined by identifying a road partition line, a curbstone, a median strip, and a guardrail;

predict a running locus of the another vehicle in the future based on a point of start turning recognized based on the road structure, at least one point of finish turning predicted based on the road structure and a position of the another vehicle in a predetermined situation; and

perform automatic driving control by generating a target locus along which the subject vehicle runs in the future such that the target locus does not interfere with the predicted running locus of the another vehicle,

wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the another vehicle in the future is not recognized, the processor further executes instructions to predict the running locus of the another vehicle in the future based on a running locus of the another vehicle in the past acquired based on a result of recognition in the past,

wherein the predetermined situation is a situation in which the another vehicle changes a course at an intersection,

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future based on a position of an entrance of the intersection and at least one exit of the intersection through which the another vehicle passes, which are acquired from the recognized road structure, and predict the running locus of the another vehicle in the future based on the running locus of the another vehicle in the past in a case in which one or both of the positions of the entrance and the at least one exit are blocked,

wherein, the point of start turning includes the entrance of the intersection and the at least one point of finish turning includes the at least one exit of the intersection, and

wherein, in a case in which the position of the at least one exit is not recognized, the processor further executes instructions to estimate the position of the at least one exit based on a road width on a side facing the at least one exit at the intersection and predict the running locus of the another vehicle in the future based on the estimated position of the at least one exit.

6. A vehicle control device comprising a processor that executes instructions to:

recognize a road structure and another vehicle in the vicinity of a subject vehicle using at least one of a camera, a radar device, and a finder, wherein the road structure is determined by identifying a road partition line, a curbstone, a median strip, and a guardrail;

predict a running locus of the another vehicle in the future based on a point of start turning recognized based on the road structure, at least one point of finish turning predicted based on the road structure and a position of the another vehicle in a predetermined situation; and

perform automatic driving control by generating a target locus along which the subject vehicle runs in the future such that the target locus does not interfere with the predicted running locus of the another vehicle,

wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the another vehicle in the future is not recognized, the processor further executes instructions to predict the running locus of the another vehicle in the future based on a running locus of the another vehicle in the past acquired based on a result of recognition in the past,

wherein the predetermined situation is a situation in which the another vehicle changes a course at an intersection,

wherein the processor further executes instructions to predict the running locus of the another vehicle in the future based on a position of an entrance of the intersection and at least one exit of the intersection through which the another vehicle passes, which are acquired from the recognized road structure, and predict the running locus of the another vehicle in the future based on the running locus of the another vehicle in the past in a case in which one or both of the positions of the entrance and the at least one exit are blocked,

wherein, the point of start turning includes the entrance of the intersection and the at least one point of finish turning includes the at least one exit of the intersection, and

wherein, in a case in which the position of the at least one exit is not recognized, the processor further executes instructions to estimate the position of the at least one exit based on a position of a structure part disposed near the at least one exit and predict the running locus of the another vehicle in the future based on the estimated position of the at least one exit.