Mobile object control device, mobile object control method, and system

A mobile object control method comprising:

• by a computer,
• recognizing a surrounding situation of the mobile object on the basis of at least an image of the surrounding situation of the mobile object;
• generating a route that is from the mobile object to the destination on the basis of the recognized surrounding situation and the set destination, and is constituted by via points to be passed through by the mobile object;
• controlling the mobile object so that the mobile object moves to the destination via the via points along the generated route;
• and
• when the mobile object travels toward a first via point of the plurality of via points, setting a temporary destination point between the first via point and a second via point that is the next via point after the first via point, and causing the mobile object to travel toward the temporary destination point via the first via point.

A system comprising a mobile object control device and a mobile object,

• wherein the mobile object control device is configured to:
• recognize a surrounding situation of a mobile object on the basis of at least an image of the surrounding situation of the mobile object,
• generate, on the basis of the recognized surrounding situation and a set destination, a route which is from the mobile object to the destination and is composed of via points to be passed through by the mobile object,
• control the mobile object so that the mobile object moves along the generated route to the destination via the via points, and
• when the mobile object travels toward a first via point of a plurality of via points, set a temporary destination point between the first via point and a second via point that is the next via point after the first via point, and cause the mobile object to travel toward the temporary destination point via the first via point.