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

A mobile object control method comprising:

• recognizing, by a computer, a physical object near a mobile object;
• thereby obtaining, by a computer, a recognition result;
• determining, by the computer, whether or not there is a possibility that an intersecting object intersecting a travel direction of the mobile object will enter an intersecting determination range that is an area set in front of the mobile object when the intersecting object is located near the mobile object based on the recognition result;
• and
• when the intersecting object is located at a position separated from the mobile object in the travel direction by a predetermined distance or more, performing, by a computer, a process for reducing the intersecting determination range, wherein
• the process is to vary a degree of reduction of a longitudinal length, which is a length in a longitudinal direction of the intersecting determination range, based on a margin time predicted as a period of time until a reference position of the intersecting object reaches a reference position set for the mobile object.

A non-transitory storage medium storing a program for causing a computer to execute:

• a process of recognizing a physical object near a mobile object and thereby obtaining a recognition result;
• a process of determining whether or not there is a possibility that an intersecting object intersecting a travel direction of the mobile object will enter an intersecting determination range that is an area set in front of the mobile object when the intersecting object is located near the mobile object based on the recognition result;
• and
• a reduction process of performing, when the intersecting object is located at a position separated from the mobile object in the travel direction by a predetermined distance or more, a process for reducing the intersecting determination range, wherein
• the reduction process is to vary a degree of reduction of a longitudinal length, which is a length in a longitudinal direction of the intersecting determination range, based on a margin time predicted as a period of time until a reference position of the intersecting object reaches a reference position set for the mobile object.