Control method of movable body, control device, movable body, and storage medium

A control device of a movable body that moves together with a specific person, the control device comprising:

• a recognition unit configured to recognize the specific person and another pedestrian in pedestrians in surroundings of the movable body by using an image obtained by imaging the surroundings of the movable body in a first period;
• in response to being incapable of recognizing the specific person in an image captured after the first period,
• a prediction unit configured to predict a future position of a first candidate with respect to the movable body by using the image captured after the first period, the first candidate being in the pedestrians in the surroundings of the movable body;
• and
• a controller configured to control traveling of the movable body to move from a current position to a specific position for recognizing the first candidate in accordance with the future position predicted of the first candidate.

A movable body that moves together with a specific person, the movable body comprising:

• a recognition unit configured to recognize the specific person and another pedestrian in pedestrians in surroundings of the movable body by using an image obtained by imaging the surroundings of the movable body in a first period;
• in response to being incapable of recognizing the specific person in an image captured after the first period,
• a prediction unit configured to predict a future position of a first candidate with respect to the movable body by using the image captured after the first period, the first candidate being in the pedestrians in the surroundings of the movable body;
• and
• a controller configured to control traveling of the movable body to move from a current position to a specific position for recognizing the first candidate in accordance with the future position predicted of the first candidate.

A non-transitory computer-readable storage medium storing a program for causing a computer to execute a control method of a movable body that moves together with a specific person, the control method comprising:

• recognizing the specific person and another pedestrian in pedestrians in surroundings of the movable body by using an image obtained by imaging the surroundings of the movable body in a first period;
• in response to being incapable of recognizing the specific person in an image captured after the first period,
• predicting a future position of a first candidate with respect to the movable body by using the image captured after the first period, the first candidate being in the pedestrians in the surroundings of the movable body;
• and
• controlling traveling of the movable body to move from a current position to a specific position for recognizing the first candidate in accordance with the future position predicted of the first candidate.