Mobile body control device, mobile body control method, and non-transitory computer-readable storage medium

A mobile body control method executed by a computer to execute travel control of a mobile body, the mobile body control method comprising:

• acquiring an actual acceleration of the mobile body;
• acquiring a gradient of a travel route along which the mobile body is traveling;
• detecting a preceding mobile body moving ahead of the mobile body;
• executing following control to calculate a target acceleration for controlling a propulsion device and a brake device such that the mobile body follows the preceding mobile body;
• calculating the target acceleration based on a target distance and a distance between the mobile body and the preceding mobile body;
• and
• starting suppression control to calculate a corrected target acceleration by reducing an absolute value of the target acceleration on condition that a downward gradient of the travel route is equal to or more than a prescribed gradient determination value, a difference between the target acceleration and the actual acceleration is equal to or less than a prescribed difference determination value, and the target acceleration is a value to increase a speed,
• wherein while the suppression control is being executed, the propulsion device and the brake device are controlled based on the corrected target acceleration instead of the target acceleration.

A non-transitory computer-readable storage medium, comprising a program for executing travel control of a mobile body,

• wherein the program, when executed by a computer, executes a mobile body control method comprising:
• acquiring an actual acceleration of the mobile body;
• acquiring a gradient of a travel route along which the mobile body is traveling;
• detecting a preceding mobile body moving ahead of the mobile body;
• executing following control to calculate a target acceleration for controlling a propulsion device and a brake device such that the mobile body follows the preceding mobile body;
• calculating the target acceleration based on a target distance and a distance between the mobile body and the preceding mobile body;
• and
• starting suppression control to calculate a corrected target acceleration by reducing an absolute value of the target acceleration on condition that a downward gradient of the travel route is equal to or more than a prescribed gradient determination value, a difference between the target acceleration and the actual acceleration is equal to or less than a prescribed difference determination value, and the target acceleration is a value to increase a speed,
• wherein while the suppression control is being executed, the propulsion device and the brake device are controlled based on the corrected target acceleration instead of the target acceleration.