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Objective: The prediction of upcoming circular walking during linear walking is important for the usability and safety of the interaction between a lower limb assistive device and the wearer. This study aims to build a bilateral elimination rule-based finite class Bayesian inference system (BER-FC-BesIS) with the ability to predict the transition between circular walking and linear walking using inertial measurement units. Methods: Bilateral motion data of the human body were used to improve the recognition and prediction accuracy of BER-FC-BesIS. Results: The mean predicted time of BER-FC-BesIS in predicting the left and right lower limbs' upcoming steady walking activities is 119.32 ± 9.71 ms and 113.75 ± 11.83 ms, respectively. The mean time differences between the predicted time and the real time of BER-FC-BesIS in the left and right lower limbs' prediction are 14.22 ± 3.74 ms and 13.59 ± 4.92 ms, respectively. The prediction accuracy of BER-FC-BesIS is 93.98%. Conclusion: Upcoming steady walking activities (e.g., linear walking and circular walking) can be accurately predicted by BER-FC-BesIS innovatively. Significance: This study could be helpful and instructional to improve the lower limb assistive devices' capabilities of walking activity prediction with emphasis on non-linear walking activities in daily living. [ABSTRACT FROM AUTHOR]