Abstract: The present invention is directed to a moving object control system comprising acquiring a captured image of a travel area to be a movement destination of a moving object; recognizing a road shape included in the captured image; generating a path of the moving object, based on the recognized road shape; and generating a speed plan of the moving object, based on the generated path and a recognition situation of the road shape.

Abstract: A course generation device generates course information indicating a course on which a moving body moves. The device outputs a course that the moving body is traveling and a course in the movement destination, generates the course connecting the course that the moving body is traveling to the movement destination, as a curve, estimates or detects an avoidance area to be avoided in traveling, based on an image captured by a camera, and selects again at least one of a start point and an end point of the course to be regenerated, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generates again the course for the distance to be equal to or longer than the predetermined distance.

Abstract: A white line recognition device includes a storage medium storing computer-readable instructions and a processor connected to the storage medium, the processor executing the computer-readable instructions to recognize a linear feature located in an image captured by a monocular camera as a contour of a white line drawn on a road surface, and detect a linear object located at a distance from the road surface based on an output of a distance measurement sensor provided to have at least a detection range in the same direction as the monocular camera. Recognizing the linear feature includes preventing the linear feature from being recognized as the contour of the white line.

Abstract: Provided is a control device for a mobile object capable of moving on a roadway and a predetermined area different from the roadway, the control device comprising a storage device storing a program and a hardware processor connected to the storage device, the hardware processor executing the program stored in the storage device to: recognize whether the mobile object is moving on the roadway or the predetermined area based on an output of an acceleration sensor for detecting an acceleration of the mobile object; and recognize that the mobile object is moving on the predetermined area when the mobile object is determined to reach a braille block based on the output of the acceleration sensor.