Abstract: A mobile object control device includes a recognizer that recognizes a surroundings situation of a mobile object, and a controller that controls an acceleration and deceleration of the mobile object based on the surroundings situation recognized by recognize, and the controller sets a risk area at a first reference position based on an end of an obstacle present around the mobile object in a traveling direction of the mobile object when a predicted trajectory in which another mobile object is estimated to move and a future trajectory of the mobile object interfere with each other, and the length of a target area corresponding to the predicted trajectory in a predicted trajectory direction is equal to or larger than a predetermined length with respect to the target area difficult for the recognizer to recognize due to the obstacle, and controls at least the speed of the mobile object based on the set risk area.

Abstract: A vehicle seatbelt device of an embodiment includes a recognizer that recognizes circumstances around a vehicle, a steering operator that is able to adjust steering of the vehicle, a vibrator that causes a portion of the steering operator to vibrate, a seatbelt that restrains a portion of the body of an occupant of the vehicle, a tension adjustment mechanism that is able to adjust the tension of the seatbelt, and a controller that controls the vibrator and the tension adjustment mechanism on the basis of the circumstances recognized by the recognizer.

Abstract: A the method for controlling a vehicle: recognizing at least a position of a traffic participant around a vehicle and a road environment around the traffic participant, setting a risk region for the traffic participant based on at least the recognized position of the traffic participant, correcting the set risk region based on a width of a sidewalk where the traffic participant is present or a width of a roadway around the traffic participant which is the recognized road environment, and controlling a speed and steering of the vehicle based on the corrected risk region.

Abstract: A vehicle control device includes a peripheral recognition unit configured to recognize a peripheral status of a vehicle including a position of a traffic participant present in a periphery of the vehicle on the basis of an output of an in-vehicle device, an estimation unit configured to estimate a peripheral attention ability of the traffic participant on the basis of an output of the in-vehicle device, and a risk area setting unit configured to set a risk area of the traffic participant on the basis of a result of the estimation performed by the estimation unit.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle, a setter configured to set a first risk area in a surrounding area of the vehicle on the basis of a recognition result of the recognizer, and a controller configured to control at least one of a speed and steering of the vehicle. The setter sets the first risk area so that the first risk area includes an area between the moving object and a first end of a crosswalk where the moving object is scheduled to arrive in the crosswalk when the moving object is entering the crosswalk which is provided in front of the vehicle and where the vehicle is scheduled to pass on the basis of the recognition result of the recognizer. The controller prevents the vehicle from entering the first risk area when a first predetermined condition is satisfied.

Abstract: A method for controlling a vehicle including specifying an object, an attribute of the object, and the strength and direction of wind influencing the object based on an image captured by an imager imaging the surroundings of a vehicle, setting a risk region for the object based on the attribute of the object and the strength and the direction of the wind that are specified, and controlling a speed and steering of the vehicle based on the risk region set by the setter.

Abstract: A mobile object control device includes a recognizer that recognizes a surroundings situation of a mobile object, and a controller that controls an acceleration and deceleration of the mobile object based on the surroundings situation recognized by recognize, and the controller sets a risk area at a first reference position based on an end of an obstacle present around the mobile object in a traveling direction of the mobile object when a predicted trajectory in which another mobile object is estimated to move and a future trajectory of the mobile object interfere with each other, and the length of a target area corresponding to the predicted trajectory in a predicted trajectory direction is equal to or larger than a predetermined length with respect to the target area difficult for the recognizer to recognize due to the obstacle, and controls at least the speed of the mobile object based on the set risk area.

Abstract: A control device for a mobile object includes a recognizer capable of recognizing a situation in a periphery of a mobile object, and a controller configured to control acceleration or deceleration of the mobile object based on the recognized situation in the periphery, and, when (1) there is a first obstacle that makes it difficult to recognize a situation on an opposite side in recognition of the situation in an extending direction of a road, (2) an end of the first obstacle is recognized and the first obstacle extends a first predetermined distance forward from the end, and (3) there is no second obstacle that makes it difficult to recognize the situation on the opposite side over a second predetermined distance on a traveling direction side of the mobile object from the end, the controller sets a risk area at a reference position based on the end of the first obstacle, and controls at least a speed of the mobile object based on the set risk area.

Abstract: A vehicle seatbelt device of an embodiment includes a recognizer that recognizes circumstances around a vehicle, a steering operator that is able to adjust steering of the vehicle, a vibrator that causes a portion of the steering operator to vibrate, a seatbelt that restrains a portion of the body of an occupant of the vehicle, a tension adjustment mechanism that is able to adjust the tension of the seatbelt, and a controller that controls the vibrator and the tension adjustment mechanism on the basis of the circumstances recognized by the recognizer.

Abstract: A vehicle seatbelt device of an embodiment includes a recognizer that recognizes circumstances around a vehicle, a determiner that determines the state of the vehicle, a seatbelt that restrains a portion of the body of a driver of the vehicle, a tension adjustment mechanism that is able to adjust the tension of the seatbelt, a determiner that determines whether or not driving of the driver is a preferable method of driving on the basis of the circumstances recognized by the recognizer and the state determined by the determiner, and a controller that controls the tension adjustment mechanism such that a tension of the seatbelt varies when the determiner determines that driving of the driver is the preferable method of driving.

Abstract: A vehicle seatbelt device of an embodiment includes a seatbelt that restrains a portion of the body of a driver of a vehicle, a tension adjustment mechanism that is able to adjust the tension of the seatbelt, and a controller that controls the tension adjustment mechanism such that the tension of the seatbelt varies in response to a sound emitted by a sound instrument.

Abstract: A prediction device including: a recognizer recognizing a road structure and another vehicle in the vicinity of a subject vehicle; and a predictor predicting a running locus of the other vehicle recognized by the recognizer in the future on the basis of the road structure recognized by the recognizer in a predetermined situation, wherein, in the predetermined situation, in a case in which at least a part of the road structure used for predicting the running locus of the other vehicle in the future is not recognizable for the recognizer, the predictor predicts the running locus of the other vehicle in the future on the basis of a running locus of the other vehicle in the past acquired on the basis of a result of recognition in the past that is acquired by the recognizer.

Abstract: A method for controlling a vehicle including specifying an object, an attribute of the object, and the strength and direction of wind influencing the object based on an image captured by an imager imaging the surroundings of a vehicle, setting a risk region for the object based on the attribute of the object and the strength and the direction of the wind that are specified, and controlling a speed and steering of the vehicle based on the risk region set by the setter.

Abstract: A the method for controlling a vehicle: recognizing at least a position of a traffic participant around a vehicle and a road environment around the traffic participant, setting a risk region for the traffic participant based on at least the recognized position of the traffic participant, correcting the set risk region based on a width of a sidewalk where the traffic participant is present or a width of a roadway around the traffic participant which is the recognized road environment, and controlling a speed and steering of the vehicle based on the corrected risk region.

Abstract: A vehicle control device includes a peripheral recognition unit configured to recognize a peripheral status of a vehicle including a position of a traffic participant present in a periphery of the vehicle on the basis of an output of an in-vehicle device, an estimation unit configured to estimate a peripheral attention ability of the traffic participant on the basis of an output of the in-vehicle device, and a risk area setting unit configured to set a risk area of the traffic participant on the basis of a result of the estimation performed by the estimation unit.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle, a setter configured to set a first risk area in a surrounding area of the vehicle on the basis of a recognition result of the recognizer, and a controller configured to control at least one of a speed and steering of the vehicle. The setter sets the first risk area so that the first risk area includes an area between the moving object and a first end of a crosswalk where the moving object is scheduled to arrive in the crosswalk when the moving object is entering the crosswalk which is provided in front of the vehicle and where the vehicle is scheduled to pass on the basis of the recognition result of the recognizer. The controller prevents the vehicle from entering the first risk area when a first predetermined condition is satisfied.