OTHER VEHICLE BEHAVIOR PREDICTION DEVICE AND BEHAVIOR PREDICTION MODEL LEARNING DEVICE

To provide an other vehicle behavior prediction device capable of performing a robust other vehicle behavior prediction while preventing an increase of design cost, and a behavior prediction model learning device.SOLUTION: An other vehicle behavior prediction device 10 comprises: an own vehicle periphery information generation section 11 for generating own vehicle periphery information Xr by combining map information X1r including map information around another vehicle of a prediction target with cognition information X2r including at least a position, a speed and an acceleration of the other vehicle of the prediction target; a behavior prediction model storage section 12 for storing therein a behavior prediction model M which has been learnt by reinforcement learning and outputs a behavior prediction result of the other vehicle of the prediction target from the own vehicle periphery information Xr; and an other vehicle behavior prediction section 13 which reads the behavior prediction model M out of the behavior prediction model storage section 12, inputs the own vehicle periphery information Xr to the read-out behavior prediction model M and causes the behavior prediction model M to output a behavior prediction result Y of the other vehicle of the prediction target.SELECTED DRAWING: Figure 1 【課題】設計コストの増大を防ぎつつ、頑健な他車両行動予測を行うことを可能にする他車両行動予測装置および行動予測モデル学習装置を得る。【解決手段】他車両行動予測装置１０は、予測対象の他車両の周辺の地図情報を含む地図情報Ｘ１ｒと、予測対象の他車両の位置、速度、および加速度を少なくとも含む認知情報Ｘ２ｒとを組み合わせて自車両周辺情報Ｘｒを生成する自車両周辺情報生成部１１と、強化学習により学習済みであり、自車両周辺情報Ｘｒから、予測対象の他車両の行動予測結果を出力する行動予測モデルＭを格納する行動予測モデル格納部１２と、行動予測モデル格納部１２から行動予測モデルＭを読み出し、読み出した行動予測モデルＭに自車両周辺情報Ｘｒを入力して、予測対象の他車両の行動予測結果Ｙを行動予測モデルＭに出力させる他車両行動予測部１３とを備えている。【選択図】図１