Control device for mobile object, control method for mobile object, and storage medium

A control method, which is executed by a computer for controlling a mobile object capable of moving on a roadway and a predetermined area different from the roadway, the control method comprising:

• recognizing whether the mobile object is moving on the roadway or the predetermined area based on an output of an acceleration sensor for detecting an acceleration of the mobile object;
• causing, when recognizing a candidate object for a braille block based on an output of an external condition detection device for detecting an external condition of the mobile object, the mobile object to move on the candidate object;
• and
• recognizing that the mobile object is moving on the predetermined area when the mobile object is determined to reach the braille block based on the output of the acceleration sensor;
• wherein the control method determines whether or not the mobile object has reached the braille block based on a degree of similarity between an output vibration pattern output by the acceleration sensor and a reference vibration pattern at a time when the mobile object moves on the braille block, which is stored in advance,
• wherein the braille block includes a plurality of types of braille blocks, and
• wherein the control method determines whether or not the mobile object has reached the braille block based on degrees of similarity between the output vibration pattern output and reference vibration patterns for the plurality of types of braille blocks.

A non-transitory computer-readable storage medium storing a program for causing a computer for controlling a mobile object capable of moving on a roadway and a predetermined area different from the roadway to:

• recognize whether the mobile object is moving on the roadway or the predetermined area based on an output of an acceleration sensor for detecting an acceleration of the mobile object;
• cause, when recognizing a candidate object for a braille block based on an output of an external condition detection device for detecting an external condition of the mobile object, the mobile object to move on the candidate object;
• and
• recognize that the mobile object is moving on the predetermined area when the mobile object is determined to reach the braille block based on the output of the acceleration sensor;
• wherein the computer determines whether or not the mobile object has reached the braille block based on a degree of similarity between an output vibration pattern output by the acceleration sensor and a reference vibration pattern at a time when the mobile object moves on the braille block, which is stored in advance,
• wherein the braille block includes a plurality of types of braille blocks, and
• wherein the computer determines whether or not the mobile object has reached the braille block based on degrees of similarity between the output vibration pattern output and reference vibration patterns for the plurality of types of braille blocks.