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

1. A mobile object control method comprising:

recognizing physical objects near a mobile object and a route shape;

generating a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and

determining that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and a position of the mobile object is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a first predetermined time period and output a determination result.

2. The mobile object control method according to claim 1 ,

wherein the generating includes setting a risk that is an index value representing a degree at which the mobile object should not approach based on the presence of the physical object recognized by at least the recognizer in an assumed plane represented in a two-dimensional plane when a space near the mobile object is viewed from above and generates the target trajectory so that the mobile object passes through a point where the risk is low, and

wherein the method further comprises stopping the determining when a degree of risk based on a risk value due to the presence of the physical object at each point of the target trajectory is higher than or equal to the reference degree.

3. The mobile object control method according to claim 1 , further comprising:

acquiring surrounding environment information of the mobile object; and

making a probability of the determining lower when the environment information satisfies a predetermined condition.

4. The mobile object control method according to claim 1 , further comprising:

acquiring a speed of the mobile object; and

making a probability of the determining lower when the speed is higher than a reference speed.

5. The mobile object control method according to claim 1 , further comprising:

collecting data for each speed range of the mobile object; and

wherein the determining is performed for each speed range of the mobile object.

6. A mobile object control device comprising:

a storage device storing a program; and

a hardware processor,

wherein the hardware processor executes the program stored in the storage device to

recognize physical objects near a mobile object and a route shape;

generate a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and

determine that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and a position of the mobile object is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a first predetermined time period and output a determination result.

7. A mobile object control device comprising:

a storage device storing a program; and

a hardware processor,

wherein the hardware processor executes the program stored in the storage device to

recognize physical objects near a mobile object and a route shape;

generate a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and

determine that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory in a movement controller and the target trajectory is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a second predetermined time period and output a determination result.

8. A computer-readable non-transitory storage medium storing a program to be executed by a computer to:

recognize physical objects near a mobile object and a route shape;

generate a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and

determine that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and a position of the mobile object is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a first predetermined time period and output a determination result.

9. A computer-readable non-transitory storage medium storing a program to be executed by a computer to:

recognize physical objects near a mobile object and a route shape;

generate a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and

determine that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and the target trajectory is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a second predetermined time period and output a determination result.