Mobile object control device and mobile object control method

A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising:

• a storage device storing a program;
• and
• a hardware processor,
• wherein the hardware processor executes the program stored in the storage device to:
• acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway;
• recognize whether the mobile object is moving on the roadway or the sidewalk;
• recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through;
• control the speed of the mobile object at least partially;
• limit a speed at which the mobile object is moving on the roadway to a first speed;
• limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed;
• and
• question about an intention to enter the sidewalk using an interface device when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and it is recognized based on the acquired information that a construction site is within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range.

A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising:

• a storage device storing a program;
• and
• a hardware processor,
• wherein the hardware processor executes the program stored in the storage device to:
• acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway;
• recognize whether the mobile object is moving on the roadway or the sidewalk;
• recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through;
• control the speed of the mobile object at least partially;
• limit a speed at which the mobile object is moving on the roadway to a first speed;
• limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed;
• and
• question about an intention to enter the sidewalk using an interface device before decelerating the mobile object when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and it is recognized based on the acquired information that traffic congestion occurs within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range.