Control device, control method, and program

A control method that is performed by a processor of a control device for controlling at least temporarily a mobile object which moves autonomously in an area in which another pedestrian walks while leading a leading target person, the control method comprising:

• recognizing objects including the leading target person and the other pedestrian;
• predicting a future position of the recognized other pedestrian;
• generating a path along which the mobile object is to move in a future;
• and
• controlling a drive device attached to the mobile object so that the mobile object moves along the path,
• wherein the generating of a path includes setting a plurality of path candidates and selects one path candidate as the path while excluding a path candidate in which the other pedestrian is predicted to enter a predetermined area including the mobile object and the leading target person.

A program causing a processor of a control device for controlling at least temporarily a mobile object which moves autonomously in an area in which another pedestrian walks while leading a leading target person to perform:

• recognizing objects including the leading target person and the other pedestrian;
• predicting a future position of the recognized other pedestrian;
• generating a path along which the mobile object is to move in a future;
• and
• controlling a drive device attached to the mobile object so that the mobile object moves along the path,
• wherein the generating of a path includes setting a plurality of path candidates, and selects one path candidate as the path while excluding a path candidate in which the other pedestrian is predicted to enter a predetermined area including the mobile object and the leading target person.