CONTROL DEVICE

A control device on a vehicle includes is configured to: detect, based on an output from an imaging device, one end and the other end in a left-right direction of the vehicle, in a first end of a detection target object, the first end being on a side close to the vehicle in a front-rear direction of the vehicle, derive, based on the one end and the other end, a first angle between a direction connecting the vehicle and the one end and the front-rear direction and a second angle between a direction connecting the vehicle and the other end and the front-rear direction, derive a first distance between the first end of the detection target object and the vehicle based on radar information, and determine a positional relationship between the vehicle and the detection target object based on the first angle, the second angle, and the first distance.