Mobile object control system

A mobile object control system configured to control traveling of a mobile object, the mobile object control system comprising

• the mobile object including a body, a seating disposed on the body, drive wheels attached to the body, and one or more actuators configured to drive the drive wheels,
• a first operation terminal and a second operation terminal configured to be held by a first operator and a second operator sitting on the seating, respectively, the first operation terminal and the second operation terminal including sensors, respectively, and
• a plurality of processors, wherein
• the plurality of processors is configured to:
• acquire a first tilt angle, a second tilt angle, a third tilt angle, and a fourth tilt angle from the sensors, wherein
• the first tilt angle is a rotation angle of the first operation terminal about a first rotational axis that extends through a center of the first operation terminal and along a lateral direction of the first operation terminal,
• the second tilt angle is a rotation angle of the first operation terminal along a second rotational axis that extends through the center of the first operation terminal and along a longitudinal direction of the first operation terminal,
• the third tilt angle is a rotation angle of the second operation terminal along a third rotational axis that extends through a center of the second operation terminal and along a lateral direction of the second operation terminal, and
• the fourth tilt angle is a rotation angle of the second operation terminal along a fourth rotational axis that extends through the center of the second operation terminal and along a longitudinal direction of the second operation terminal;
• calculate a first target speed and a second target speed based on the first tilt angle and the third tilt angle, respectively, the first target speed and the second target speed being target values of a speed in a traveling direction of the mobile object;
• calculate a first target turning angular velocity and a second target turning angular velocity based on the second tilt angle and the fourth tilt angle, respectively, the first target turning angular velocity and the second target turning angular velocity being target values of a turning angular velocity of the mobile object;
• calculate a final target speed by combining the first target speed and the second target speed using a first ratio;
• calculate a final target turning angular velocity by combining the first target turning angular velocity and the second target turning angular velocity using a second ratio different from the first ratio;
• and
• control the one or more actuators based on the final target speed and the final target turning angular velocity.