Abstract: A control device is configured to perform: performing a first process when an index value indicating a degree of closeness to a risky object which is present in front of a mobile object is less than a first threshold value; performing a second process when the index value is equal to or greater than the first threshold value and less than a second threshold value greater than the first threshold value; and performing a third process and the second process when the index value is equal to or greater than the second threshold value. The third process includes a fourth process of proposing a driving operation for avoiding the risky object to a driver. The fourth process is not performed when the driver has performed an action for reducing or releasing an operation of an operator instructing an accelerating operation for accelerating the mobile object.

Abstract: A control device of an embodiment is a control device that makes a proposal for steering to avoid a risk object present on a traveling direction side of a mobile object to a driver of the mobile object and includes a determiner configured to determine, when it is assumed that the mobile object is caused to travel straight from a current position of the mobile object in a current traveling direction for a predetermined time, whether an assumed reference position of the mobile object intersects a traveling road boundary, and a proposer configured to suppress the proposal when it is determined that the reference position intersects the traveling road boundary, and makes the proposal when it is determined that the reference position does not intersect the traveling road boundary.

Abstract: Provided is a mobile object control device configured to: recognize a surrounding situation of a mobile object; set, based on the recognized surrounding situation, a risk area in which positions of the surrounding situation are associated with risk values that are indicator values indicating degrees to which the mobile object is to avoid traveling; generate a target trajectory indicating a route along which the mobile object is to travel in future; cause the mobile object to travel along the generated target trajectory; and set at least one observation point in each of three or more provisional trajectories branching at a specific location ahead of the mobile object, and generate the target trajectory based on the risk area and the at least one observation point.

Abstract: Provided is a mobile object control device including: a storage medium having computer-readable instructions stored therein; and a processor connected to the storage medium, wherein the processor executes the computer-readable instructions to recognize an object which is located near a mobile object, set a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object, and generate a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, and generating the target trajectory includes setting a plurality of first observation points at intervals in a traveling direction of the mobile object, setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points, and searching for a point at which the risk is low on the basis of the risk at an observation point group including

Abstract: A mobile body control device acquires sensor information for recognizing an object around a mobile body, the sensor information including a captured image, sets one of a plurality of control modes, and controls traveling of the mobile body based on the set control mode and a result of detection of a specific person based on the sensor information. In a case where a first mode is set, the device controls the traveling of the mobile body in such a way that the mobile body travels together with the specific person when the person is walking. In a case where a second mode is set, the device controls the traveling of the mobile body in such a way that the mobile body moves to a point designated by the specific person before starting the first mode.

Abstract: A mobile body control device acquires sensor information for recognizing an object around a mobile body, the sensor information including a captured image obtained by capturing a periphery of the mobile body, and sets one of a plurality of control modes. The device controls traveling of the mobile body based on the set control mode and a result of detection of a specific person based on the sensor information. The device controls the traveling of the mobile body in such a way that the mobile body travels based on a traveling speed of the mobile body, generation of a traveling trajectory of the mobile body, and a positional relationship between the specific person and the mobile body for the control mode.

Abstract: A mobile object control device includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a surrounding situation of a mobile object, set a risk area to be avoided in a traveling process of the mobile object in a plurality of distance-specific areas centered on the mobile object on the basis of the recognized surrounding situation, generate a target trajectory indicating a route along which the mobile object is to travel in the future on the basis of the set risk area, and cause the mobile object to travel along the generated target trajectory. The processor sets different types of risk areas in accordance with the plurality of distance-specific areas.