Abstract: A moving object control system that controls an operation of a moving object including a drive wheel and a driven wheel. The moving object control system generates a trajectory along which the moving object travels based on a target position and trajectories that are generatable from velocities and angular velocities of the moving object that satisfy a predetermined constraint condition and controls traveling of the moving object in accordance with the generated trajectory. The predetermined constraint condition includes a constraint determined from a travelable velocity of the moving object, a constraint determined from an acceleration at which the moving object is capable of accelerating, and a constraint depending on an angle of the driven wheel.

Abstract: The present invention directs to a moving object control system comprising acquiring a captured image; detecting an obstacle included in the captured image; dividing a region around a moving object and generate an occupancy map indicating occupancy of the obstacle detected for each of divided regions; and generating a global path from a current position to a target position for avoiding the detected obstacle based on a first cost, a second cost, and a third cost, the first cost being higher as a distance from the current position is longer on the occupancy map, the second cost being higher as a distance from the target position is longer on the occupancy map, and the third cost being higher as a distance from a past path is longer on the occupancy map.

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.