US Patent 11643077 Estimating device

An estimation unit performs a primary estimation for estimating the degree of risk based on the speed of the traffic participant, the acceleration of the traffic participant, and the advancing direction of the traffic participant, for a traffic participant whose separation distance from a moving body is equal to or shorter than a first distance, and performs a secondary estimation for estimating the degree of risk based on the scene at the time, for the traffic participant whose separation distance is equal to or greater than the second distance.