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

A mobile object control method executed by a computer, comprising:

• recognizing an object existing around a mobile object and a follower following the mobile object;
• generating a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object so as to pass through a location of the mobile object, based on a result of the recognition;
• generating a second trajectory, which is a target trajectory of the mobile object, based on the first trajectory;
• and
• controlling a mechanism for moving the mobile object so that the mobile object moves along the second trajectory.

A mobile object control device comprising:

• a storage device that stores a program, and
• a hardware processor,
• wherein, by executing the program stored in the storage device, the hardware processor performs:
• recognizing an object existing around a mobile object and a follower following the mobile object;
• generating a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object, without considering the mobile object as an object that the follower is to avoid contact with, based on a result of the recognition;
• generating a second trajectory, which is a target trajectory of the mobile object, so that the follower follows the mobile object so that the follower moves along the first trajectory;
• and
• controlling a mechanism for moving the mobile object so that the mobile object moves along the second trajectory.

A mobile object control device comprising:

• a storage device that stores programs, and
• a hardware processor,
• wherein, by executing the program stored in the storage device, the hardware processor performs:
• recognizing an object existing around a mobile object and a follower following the mobile object;
• generating a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object, so as to pass through a location of the mobile object, based on a result of the recognition;
• generating a second trajectory, which is a target trajectory of the mobile object, so that the follower follows the mobile object and the follower moves along the first trajectory;
• and
• controlling a mechanism for moving the mobile object so that the mobile object moves along the second trajectory.

A computer-readable non-transitory storage medium that stores a program causing a computer to:

• recognize an object existing around a mobile object and a follower following the mobile object,
• generate a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object, based on a result of the recognition,
• generate a second trajectory, which is a target trajectory of the mobile object, based on the first trajectory,
• control a mechanism for moving the mobile object so that the mobile object moves along the second trajectory, and
• generate the first trajectory without considering the mobile object as an object that the follower is to avoid contact with, when generating the first trajectory.

A computer-readable non-transitory storage medium that stores a program causing a computer to:

• recognize an object existing around a mobile object and a follower following the mobile object,
• generate a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object, based on a result of the recognition,
• generate a second trajectory, which is a target trajectory of the mobile object, based on the first trajectory,
• control a mechanism for moving the mobile object so that the mobile object moves along the second trajectory, and
• generate the first trajectory so as to pass through a location of the mobile object, when generating the first trajectory.