MOVING BODY BEHAVIOR PREDICTION DEVICE AND MOVING BODY BEHAVIOR PREDICTION METHOD

The present invention improves the accuracy of predicting rarely occurring behavior of moving bodies, without reducing the accuracy of predicting commonly occurring behavior of moving bodies. A vehicle is provided with a moving body behavior prediction device . The moving body behavior prediction device is provided with a first behavior prediction unit and a second behavior prediction unit . The first behavior prediction unit learns first predicted behavior so as to minimize the error between behavior prediction results for moving bodies and behavior recognition results for the moving bodies after a prediction time has elapsed. The second behavior prediction unit learns future second predicted behavior of the moving bodies around the vehicle so that the vehicle does not drive in an unsafe manner.