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

A mobile object control method comprising:

• recognizing, by a computer for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway, whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object;
• and
• limiting, by the computer, 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,
• wherein the recognizing includes
• iteratively recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causing a storage device to store a recognition result, and
• outputting a recognition result indicating that the mobile object is moving on a side walk during a second period when at least some of the recognition results of the previous first period in the storage device are lost.

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

• recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object;
• and
• 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,
• wherein the recognizing includes
• iteratively recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causing a storage device to store a recognition result, and
• outputting a recognition result indicating that the mobile object is moving on a side walk during a second period when at least some of the recognition results of the previous first period in the storage device are lost.