CONTROL DEVICE

The control device according to one aspect of the present disclosure generates a first path and a second path using a first control model and a second control model, evaluates the deviation between the generated first path and second path using a compatibility criteria, generates a final path from the first path and the second path by reflecting the evaluation result, and controls the movement of a moving body in accordance with the generated final path. The conformability criteria have been adjusted by user feedback so that the less an intervention operation by the user is performed, the more the first path is prioritized in generate the final path, and the more the intervention operation by the user is performed, the more the second path is prioritized in generate the final path.