A device includes a storage device configured to store a program; and a hardware processor, wherein, the hardware processor executes the program stored in the storage device to: recognize positions of a plurality of traffic participants; determine a temporary goal which each of the plurality of traffic participants is trying to reach in the future, based on the recognition results; and simulate a movement process in which each of the plurality of traffic participants moves toward the temporary goal using a movement model to estimate an action in the future of each of the plurality of traffic participants.