US Patent 10435019 Course prediction method and course prediction device

A course prediction method uses a position acquisition circuit configured to acquire a position of a surrounding vehicle and a course prediction circuit configured to predict a course of a host vehicle based on a traveling path of the surrounding vehicle obtained from a history of the position of the surrounding vehicle. In the course prediction method, the course of the host vehicle is predicted by increasing or reducing the size of the traveling path of the surrounding vehicle, based on a turning direction and a lateral position of the surrounding vehicle.