MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND STORAGE MEDIUM

According to an embodiment, a mobile object control device includes a recognizer configured to recognize a surrounding situation of a mobile object on the basis of a first image captured, an action plan generator configured to generate a future action plan of the mobile object on the basis of a recognition result, 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. 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.