Device for controlling mobile object and method for controlling mobile object

1 . A device for controlling a mobile object capable of moving both on a roadway and in a predetermined area different from the roadway, one or more passengers, comprising a passenger, boarding the mobile object, the device for controlling a mobile object comprising:

at least one memory storing instructions; and

at least one processor configured to execute the instructions stored in the memory to:

recognize whether the mobile object is moving on the roadway or moving in the predetermined area on the basis of an output of an external detection device configured to detect an external situation of the mobile object;

cause the mobile object to travel in any one of a first traveling state in which a speed of the mobile object is limited to a first speed and a second traveling state in which the speed of the mobile object is limited to a second speed lower than the first speed, on the basis of a road type recognized, wherein

the at least one processor causes the mobile object to travel in the second traveling state when the mobile object is traveling in the predetermined area, and performs switching between the first traveling state and the second traveling state in response to a travel state-related instruction received from the passenger when the mobile object is caused to travel from the predetermined area to the roadway; and

receive a driving operation for the mobile object by the passenger,

wherein the at least one processor determines whether to perform switching from the second traveling state to the first traveling state on the basis of a steering operation of the mobile object,

wherein the at least one processor does not perform switching from the second traveling state to the first traveling state even when the mobile object travels on the roadway from the predetermined area when an amount of steering is smaller than a predetermined amount, and

wherein, when the mobile object moves from the predetermined area to the roadway and the amount of steering is smaller than the predetermined amount, the at least one processor does not perform the switching from the second traveling state to the first traveling state even when an operation to accelerate the mobile object is received.

2 . The device for controlling a mobile object according to claim 1 , wherein the at least one processor performs switching from the second traveling state to the first traveling state when control for moving the mobile object toward the roadway through a steering operation is performed.

3 . The device for controlling a mobile object according to claim 1 , wherein the at least one processor performs switching from the second traveling state to the first traveling state when the predetermined area is present in a road width direction with a position of the mobile object leaving the predetermined area and traveling on the roadway as a reference.

4 . The device for controlling a mobile object according to claim 1 , wherein the at least one processor further executes instructions to:

receive an instruction regarding switching a traveling state of the mobile object, wherein the at least one processor determines whether to perform switching from the second traveling state to the first traveling state on the basis of the instruction received.

5 . The device for controlling a mobile object according to claim 1 , wherein the at least one processor notifies an external notification device of the mobile object that the mobile object is traveling on the roadway in the second traveling state when the mobile object is traveling on the roadway in the second traveling state.

6 . The device for controlling a mobile object according to claim 1 , wherein the at least one processor notifies the passenger of information for switching from the second traveling state to the first traveling state when the mobile object is traveling on the roadway in the second traveling state.

7 . A method for controlling a mobile object comprising:

recognizing whether the mobile object is moving on a roadway or moving in a predetermined area on the basis of an output of an external detection device configured to detect an external situation of the mobile object, by a computer for controlling the mobile object capable of moving both on the roadway and in the predetermined area different from the roadway, one or more passengers, comprising a passenger, boarding the mobile object;

causing, by the computer, the mobile object to travel in any one of a first traveling state in which a speed of the mobile object is limited to a first speed and a second traveling state in which the speed of the mobile object is limited to a second speed lower than the first speed, on the basis of a recognized road type;

causing, by the computer, the mobile object to travel in the second traveling state when the mobile object is traveling in the predetermined area, and performing switching between the first traveling state and the second traveling state in response to a travel state-related instruction received from the passenger when the mobile object is caused to travel from the predetermined area to the roadway;

receiving, by the computer, a driving operation for the mobile object by the passenger;

determining, by the computer, whether to perform switching from the second traveling state to the first traveling state on the basis of a steering operation of the mobile object;

determining, by the computer, that switching from the second traveling state to the first traveling state is not to be performed even when the mobile object travels on the roadway from the predetermined area when an amount of steering is smaller than a predetermined amount; and

when the mobile object moves from the predetermined area to the roadway and the amount of steering is smaller than the predetermined amount, determining, by the computer, that the switching from the second traveling state to the first traveling state is not to be performed even when an operation to accelerate the mobile object is received.

8 . A device for controlling a mobile object capable of moving both on a roadway and in a predetermined area different from the roadway, one or more passengers, comprising a passenger, boarding the mobile object, the device for controlling a mobile object comprising:

at least one memory storing instructions; and

at least one processor configured to execute the instructions stored in the memory to:

recognize whether the mobile object is moving on the roadway or moving in the predetermined area on the basis of an output of an external detection device configured to detect an external situation of the mobile object;

cause the mobile object to travel in any one of a first traveling state in which a speed of the mobile object is limited to a first speed and a second traveling state in which the speed of the mobile object is limited to a second speed lower than the first speed, on the basis of a road type recognized,

wherein the at least one processor causes the mobile object to travel in the second traveling state when the mobile object is traveling in the predetermined area, and performs switching between the first traveling state and the second traveling state in response to a travel state-related instruction received from the passenger when the mobile object is caused to travel from the predetermined area to the roadway; and

receive a driving operation for the mobile object by the passenger,

wherein the at least one processor determines whether to perform switching from the second traveling state to the first traveling state on the basis of a steering operation of the mobile object,

wherein the at least one processor continues the second traveling state when the amount of steering is smaller than the predetermined amount and a distance from the predetermined area in which the mobile object is traveling to another predetermined area is smaller than a predetermined distance.

9 . A method for controlling a mobile object comprising:

recognizing whether the mobile object is moving on a roadway or moving in a predetermined area on the basis of an output of an external detection device configured to detect an external situation of the mobile object, by a computer for controlling the mobile object capable of moving both on the roadway and in the predetermined area different from the roadway, one or more passengers, comprising a passenger, boarding the mobile object;

causing, by the computer, the mobile object to travel in any one of a first traveling state in which a speed of the mobile object is limited to a first speed and a second traveling state in which the speed of the mobile object is limited to a second speed lower than the first speed, on the basis of a recognized road type;

causing, by the computer, the mobile object to travel in the second traveling state when the mobile object is traveling in the predetermined area, and performing switching between the first traveling state and the second traveling state in response to a travel state-related instruction received from the passenger when the mobile object is caused to travel from the predetermined area to the roadway;

receiving, by the computer, a driving operation for the mobile object by the passenger,

determining, by the computer, whether to perform switching from the second traveling state to the first traveling state on the basis of a steering operation of the mobile object; and

continuing, by the computer, the second traveling state when the amount of steering is smaller than the predetermined amount and a distance from the predetermined area in which the mobile object is traveling to another predetermined area is smaller than a predetermined distance.