Mobile object control device, mobile object control method, and storage medium

A mobile object control method to be performed by a mobile object control device for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway, the mobile object control method including:

• controlling at least a speed of the mobile object;
• setting a virtual central lane including an assumed course of the mobile object, a virtual right lane located on a right side of the virtual central lane as seen from the mobile object, and a virtual left lane located on a left side of the virtual central lane as seen from the mobile object in an image captured by an external camera configured to perform an imaging process in a movement direction of the mobile object;
• performing spatial classification processes on a region of the image corresponding to the virtual central lane, a region of the image corresponding to the virtual right lane, and a region of the image corresponding to the virtual left lane;
• recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of a result of the spatial classification processes for the virtual central lane when a reliability degree of the result of the spatial classification processes related to the virtual central lane is greater than or equal to a reference degree;
• recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of a combination of a result of the spatial classification processes for the virtual right lane and a result of the spatial classification processes for the virtual left lane when the reliability degree of the result of the spatial classification processes related to the virtual central lane is less than the reference degree;
• limiting a speed of a case where the mobile object moves on the roadway to a first speed;
• and
• limiting a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed.

A non-transitory storage medium storing a program for causing a processor of a mobile object control device for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway to:

• control at least a speed of the mobile object;
• set a virtual central lane including an assumed course of the mobile object, a virtual right lane located on a right side of the virtual central lane as seen from the mobile object, and a virtual left lane located on a left side of the virtual central lane as seen from the mobile object in an image captured by an external camera configured to perform an imaging process in a movement direction of the mobile object;
• perform spatial classification processes on a region of the image corresponding to the virtual central lane, a region of the image corresponding to the virtual right lane, and a region of the image corresponding to the virtual left lane;
• recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of a result of the spatial classification processes for the virtual central lane when a reliability degree of the result of the spatial classification processes related to the virtual central lane is greater than or equal to a reference degree;
• recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of a combination of a result of the spatial classification processes for the virtual right lane and a result of the spatial classification processes for the virtual left lane when the reliability degree of the result of the spatial classification processes related to the virtual central lane is less than the reference degree;
• limit a speed of a case where the mobile object moves on the roadway to a first speed;
• and
• limit a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed.