Movable body, movable body control method, and program

A movable body comprising:

• an illumination device that emits light from a predetermined region in a radiation possible region capable of emitting light;
• a recognition portion that recognizes an object at a periphery of a movable body and a user based on an image in which the periphery of the movable body is captured;
• a movement control portion that controls the movable body to move together with the user while avoiding the object at the periphery;
• and
• a radiation control portion that controls the illumination device to control a radiation pattern in which the illumination device emits light,
• wherein the recognition portion recognizes a direction in which the user is present with respect to the movable body, and
• the radiation control portion controls the radiation pattern based on the direction that is changed in accordance with a movement of one or both of the movable body and the user.

A movable body control method by way of a computer, comprising:

• recognizing an object at a periphery of a movable body and a user based on an image in which the periphery of the movable body is captured;
• controlling the movable body to move together with the user while avoiding the object at the periphery;
• controlling an illumination device that emits light from a predetermined region in a radiation possible region capable of emitting light to control a radiation pattern in which the illumination device emits light;
• recognizing a direction in which the user is present with respect to the movable body;
• and
• controlling the radiation pattern based on the direction that is changed in accordance with a movement of one or both of the movable body and the user.

A computer-readable non-transitory storage medium storing a program that causes a computer to execute:

• a process of recognizing an object at a periphery of a movable body and a user based on an image in which the periphery of the movable body is captured;
• a process of controlling the movable body to move together with the user while avoiding the object at the periphery;
• a process of controlling an illumination device that emits light from a predetermined region in a radiation possible region capable of emitting light to control a radiation pattern in which the illumination device emits light;
• a process of recognizing a direction in which the user is present with respect to the movable body;
• and
• a process of controlling the radiation pattern based on the direction that is changed in accordance with a movement of one or both of the movable body and the user.