CONTROL SYSTEM AND CONTROL METHOD

A control system (10) includes an obtainer (11) that obtains sensing data output from a sensor that performs sensing of an outside of a mobile body, a detector (12) that detects a position of an object outside the mobile body based on the sensing data, a movement predictor (13) that predicts a movement of the object based on the sensing data, a costmap generator (14) that generates a first costmap based on the position detected of the object and a second costmap based on the movement predicted of the object, a path generator (15) that generates a path for the mobile body based on the first costmap, a determination generator (16) that generates a movement determination of the mobile body based on the second costmap and the path generated, and a controller (17) that controls the movement of the mobile body in accordance with the path generated and the movement determination.