Control system, control method, and storage medium

A control system that controls a mobile object which is capable of autonomously moving in an area in which a pedestrian is able to move, comprising:

• a storage medium configured to store computer-readable instructions;
• and
• one or more processors connected to the storage medium,
• wherein the one or more processors execute the computer-readable instructions to:
• detect objects around the mobile object,
• recognize a traffic participant that is estimated to pass by the mobile object included in the object and a stop position to which the mobile object is able to be evacuated on the basis of a result of the detection of the object, and
• stop the mobile object at a stop position so that the mobile object is included in a visual field range of the traffic participant when the traffic participant and the mobile object are estimated to pass by each other.