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

A mobile object control method for use in a mobile object control device including a recognition part configured to recognize a surrounding situation of a mobile object, a first steering control device configured to control steering of the mobile object, and a second steering control device configured to control the steering of the mobile object in place of the first steering control device, the mobile object control method comprising:

• controlling, by the first steering control device, the steering of the mobile object so that a lane in which the mobile object is traveling is kept based on external environment information indicating a result of recognizing the surrounding situation in the recognition part, and
• controlling, by the second steering control device, a steering device for implementing the steering of the mobile object based on predicted information predicted in relation to the steering of the mobile object.

A program for causing a mobile object control device including a recognition part configured to recognize a surrounding situation of a mobile object, a first steering control device configured to control steering of the mobile object, and a second steering control device configured to control the steering of the mobile object in place of the first steering control device to execute:

• a process in which the first steering control device controls the steering of the mobile object so that a lane in which the mobile object is traveling is kept based on external environment information indicating a result of recognizing the surrounding situation in the recognition part, and
• a process in which the second steering control device controls a steering device for implementing the steering of the mobile object based on predicted information predicted in relation to the steering of the mobile object.