Moving body control system, control method, storage medium, and moving body

A control method of a moving body control system, the control method comprising:

• an imaging step of acquiring a captured image of a travel area of a destination of a moving body;
• a recognition step of recognizing a road shape included in the captured image;
• a path generation step of generating a path of the moving body based on the road shape recognized in the recognition step;
• and
• a control step of controlling traveling of the moving body in accordance with the generated path;
• wherein
• the generating of the path further includes generating, when the road shape includes an entrance section and at least one exit section accompanied by a course change is recognized in the recognition step, a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body, wherein the second path is generated from a center of the entrance section to a center of the identified exit section;
• and
• the path generation step includes generating a third path following the second path in the recognized travel area when the travel area is recognized following the identified exit section while the moving body travels along the first path or the second path.

A moving body, comprising:

• an imaging device configured to acquire a captured image of a travel area of a destination;
• at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
• recognize a road shape included in the captured image;
• generate a path of the moving body based on the recognized road shape;
• and
• control traveling of the moving body in accordance with the generated path;
• wherein
• when the recognized road shape includes an entrance section and at least one exit section accompanied by a course change, the generation of the path further comprises generating a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body, wherein the second path is generated from a center of the entrance section to a center of the identified exit section;
• and
• when the travel area is recognized following the identified exit section while the moving body travels along the first path or the second path, the instructions further cause the at least one processor to generate a third path following the second path in the recognized travel area.