| CPC B60W 60/001 (2020.02) [G06V 20/58 (2022.01); B60W 2554/404 (2020.02); B60W 2554/80 (2020.02)] | 11 Claims |
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1. A mobile object control device comprising:
a recognizer configured to recognize a surrounding situation of a mobile object on the basis of a first image captured by an imager;
an action plan generator configured to generate a future action plan of the mobile object on the basis of a recognition result of the recognizer; and
a driving controller configured to control at least one of steering and a speed of the mobile object on the basis of the action plan generated by the action plan generator,
wherein the recognizer recognizes a physical object near the mobile object in a first recognition mode in which a recognition process is performed using a second image obtained by reducing a data amount of the first image and determines that another physical object having a larger risk area than the recognized physical object has been recognized when accuracy of the recognized physical object is less than a threshold value,
wherein the recognizer extracts a first partial image area including the physical object from the first image when the accuracy of the physical object recognized in the first recognition mode is less than the threshold value and recognizes the physical object in a second recognition mode in which a recognition process is performed using a third image having a larger data amount than the second image with respect to the extracted first partial image area, and
wherein the action plan generator generates the action plan on the basis of information of the physical object recognized in the second recognition mode when the physical object recognized in the first recognition mode is different from the physical object recognized in the second recognition mode.
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