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

Abstract

A mobile object control device for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway includes a road type recognition unit configured to recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object and a control unit configured to limit a speed of a case where the mobile object moves on the roadway to a first speed and limit a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed. The road type recognition unit iteratively recognizes whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causes a storage device to store a recognition result. The road type recognition unit outputs a recognition result indicating that the mobile object is moving on a sidewalk during a second period to the control unit when at least some of the recognition results of the previous first period in the storage device are lost.