A method for controlling movement of a moving body, comprising: determining that at least one object exists in an advancing direction of the moving body based on a distance sensor to acquire a first determination result; executing first control on movement of the moving body on the basis of the first determination result, wherein executing first control on movement of the moving body on the basis of the first determination result comprises: controlling the moving body to be decelerated when the at least one object exists in an advancing direction of the moving body and when a speed of the moving body or a relative speed of the moving body and the at least one object exceeds a predetermined threshold value; and keeping the speed of the moving body unchanged when the at least one object exists in an advancing direction of the moving body and when the speed of the moving body or the relative speed of the moving body and the at least one object does not exceed the predetermined threshold value; determining predetermined parameters comprising at least one of a number, type, moving direction and moving speed of the at least one object according to a distance between the moving body and the at least one object acquired through the distance sensor and an image of the at least one object acquired through an image sensor to acquire a second determination result; and executing second control on movement of the moving body on the basis of the second determination result, wherein the predetermined threshold value depends on the distance between the moving body and the at least one object when the first determination result is acquired and a pre-estimation of the time taken to acquire the second determination result. determining that at least one object exists in an advancing direction of the moving body based on a distance sensor to acquire a first determination result; executing first control on movement of the moving body on the basis of the first determination result, wherein executing first control on movement of the moving body on the basis of the first determination result comprises: controlling the moving body to be decelerated when the at least one object exists in an advancing direction of the moving body and when a speed of the moving body or a relative speed of the moving body and the at least one object exceeds a predetermined threshold value; and keeping the speed of the moving body unchanged when the at least one object exists in an advancing direction of the moving body and when the speed of the moving body or the relative speed of the moving body and the at least one object does not exceed the predetermined threshold value; controlling the moving body to be decelerated when the at least one object exists in an advancing direction of the moving body and when a speed of the moving body or a relative speed of the moving body and the at least one object exceeds a predetermined threshold value; and keeping the speed of the moving body unchanged when the at least one object exists in an advancing direction of the moving body and when the speed of the moving body or the relative speed of the moving body and the at least one object does not exceed the predetermined threshold value; determining predetermined parameters comprising at least one of a number, type, moving direction and moving speed of the at least one object according to a distance between the moving body and the at least one object acquired through the distance sensor and an image of the at least one object acquired through an image sensor to acquire a second determination result; and executing second control on movement of the moving body on the basis of the second determination result, wherein the predetermined threshold value depends on the distance between the moving body and the at least one object when the first determination result is acquired and a pre-estimation of the time taken to acquire the second determination result. <EOS>