Control system, mobile object, control method, and storage medium

A control method for controlling a mobile object that can move in any one operation mode determined from a plurality of operation modes, wherein the operation modes include a first operation mode and a second operation mode, the first operation mode is a mode in which the mobile object moves at a speed less than a predetermined speed and does not move at a speed equal to or greater than the predetermined speed, the second operation mode is a mode in which the mobile object moves at a speed equal to or greater than the predetermined speed, the method causing a computer to execute:

• determining whether a predetermined road is a first road in which passage of vehicles in a mode other than a first operation mode, in which a maximum moving speed of the mobile object is less than a predetermined speed, is restricted, wherein the first road is a sidewalk on which movement of the mobile object in the first operation mode is permitted and on which movement of the mobile object in the second operation mode is restricted, the movement of a vehicle is restricted, and the movement of pedestrians is permitted;
• based on the determining of the predetermined road, providing information to a user, the information comprising characteristics and designations for a group of routes, wherein the characteristics define individual ones of the group of routes as time-emphasized, comfort-emphasized, or a balance therebetween, and wherein the designations differently define the individual ones of the group of routes as corresponding to operation in the first operation mode or in the second operation mode;
• performing acquisition of information on a user's determination to execute a first process based on the information provided, wherein the user's determination to execute the first process comprises a selection of a first route, from the group of routes, of a planned route for the mobile object to a single predetermined point, and wherein the selection of the first route corresponds to both a characteristic, of the characteristics, and a designation, of the designations, of the first route;
• based on the acquisition of the information on the user's determination to execute the first process, executing the first process of generating a first route of the mobile object so as to include the first road and the second road on which the movement of a vehicle is permitted;
• executing a second process of generating a second route of the mobile object so as to include the second road and so as not to include the first road;
• generating a planned route of the mobile object to a single predetermined point, the planned route including the first route generated by the first process and the second route generated by the second process;
• causing the mobile object to move in the first operation mode when the mobile object moves on the first road in the first route;
• causing the mobile object to move in the second operation mode when the mobile object moves on the second road in the first route;
• and
• causing the mobile object to move in the second operation mode when the mobile object moves in the second route.

A control system of a mobile object that can move in any one operation mode determined from a plurality of operation modes, wherein the operation modes include a first operation mode, a second operation mode, and a third operation mode,

• the first operation mode is a mode in which the mobile object moves at a speed less than a predetermined speed and does not move at a speed equal to or greater than the predetermined speed, the predetermined speed being determined based on a moving speed of a pedestrian,
• the second operation mode and the third operation mode is a mode in which the mobile object moves at a speed equal to or greater than the predetermined speed,
• the second operation mode is a mode in which the mobile object moves at a speed based on a speed that a vehicle around the mobile object travels,
• the third operation mode is a mode in which the mobile object moves at a speed based on a speed that a non-motorized vehicle around the mobile object travels,
• the control system comprising:
• a storage device configured to store instructions;
• and
• one or more processors,
• wherein the one or more processors execute the instructions stored in the storage device to:
• determine whether a predetermined road is a first road in which passage of vehicles in an operation mode other than a first operation mode, in which a maximum moving speed of the mobile object is less than a predetermined speed, is restricted,
• wherein the first road is a sidewalk on which movement of the mobile object in the first operation mode is permitted and on which movement of the mobile object in the second operation mode is restricted, the movement of a vehicle is restricted, and the movement of pedestrians is permitted,
• based on the determining of the predetermined road, provide information to a user, the information comprising characteristics and designations for a group of routes, wherein the characteristics define individual ones of the group of routes as time-emphasized, comfort-emphasized, or a balance therebetween, and wherein the designations differently define the individual ones of the group of routes as corresponding to operation in the first operation mode or in the second operation mode;
• perform acquisition of information on a user's determination to execute a first process based on the information provided, wherein the user's determination to execute the first process comprises a selection of a first route, from the group of routes, of a planned route for the mobile object to a single predetermined point, and wherein the selection of the first route corresponds to both a characteristic, of the characteristics, and a designation, of the designations, of the first route;
• based on the acquisition of the information on the user's determination to execute the first process, execute the first process of generating a first route of the mobile object so as to include the first road and the second road in which the passage of a vehicle is permitted;
• execute a second process of generating a second route of the mobile object so as to include the second road and so as not to include the first road,
• the second road being a road on which movement of the mobile object in the second operation mode and the third operation mode is permitted;
• generate a planned route of the mobile object to a single predetermined point, the planned route including the first route generated by the first process and the second route generated by the second process;
• cause the mobile object to move in the first operation mode when the mobile object moves on the first road in the first route;
• cause the mobile object to move in the second operation mode when the mobile object moves on the second road in the first route;
• cause the mobile object to move in the second operation mode based on a speed of a vehicle around the mobile object in a case that the mobile object is operating in the second operation mode when the mobile object moves in the second route;
• and
• cause the mobile object to move in the third operation mode based on a speed of a non-motorized vehicle around the mobile object in a case that the mobile object is operating in the third operation mode when the mobile object moves in the second route.