Moving body control system and moving body control method

A moving body control system installed on a moving body for controlling travel of the moving body in a predetermined area, the moving body control system comprising one or more processors configured to execute:

• a position estimation process that estimates a position of the moving body based on a steering angle, a speed of the moving body, at least one marker, of a plurality of markers installed in the predetermined area, configured to be recognized by a sensor of the moving body, and map information indicating positions of roads and structures in the predetermined area and indicating a position of the at least one marker installed in the predetermined area;
• a travel control process that controls travel of the moving body so as to follow a target path based on the estimated position of the moving body;
• and
• recognize an upcoming position at which a curvature of the target path is equal to or greater than a threshold value as a turning position based on the map information;
• a road surface condition acquisition process configured to:
• acquire a road surface condition information indicating slipperiness of a target road surface on the target path at least around the moving body;
• determine whether the target road surface is in a dry condition or a wet condition based on at least one of an image of the target road surface captured by a camera, wherein the one or more processors are configured to analyze the image using artificial intelligence (AI) generated by machine learning to determine whether the target road surface is in the dry condition or the wet condition;
• and
• acquire the road surface condition information based on whether the target road surface is in the dry condition or the wet condition;
• and
• a departure suppression process includes:
• dynamically changing a control parameter used in the travel control process according to the slipperiness of the target road surface such that departure of the moving body from the target path is suppressed;
• and
• changing the control parameter by correcting the target path at the turning position to a corrected target path prior to the turning position, the corrected target path is set to be on more inner side of turning as the slipperiness at the turning position becomes higher.