A mobile object control method including: recognizing physical objects near a mobile object and a route shape; generating a target trajectory based on a result of the recognition; causing the mobile object to travel autonomously along the target trajectory; and determining that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and the target trajectory is greater than or equal to a first reference degree and output a determination result.