CONTROL DEVICE, CONTROL METHOD AND PROGRAM

To effectively suppress collision with an oncoming vehicle while reducing a processing load of a processor, provided is a control device for a vehicle comprising an object detection unit configured to detect a object; and a processor. The the processor is configured to execute an estimation process for estimating whether an adjacent lane is an opposite lane, and a avoidance process which executes a steering control for avoiding a collision, when the object detected by the object detection unit satisfies a collision condition, wherein the estimation process, if it is estimated that the adjacent lane is the opposite lane, maintain an estimation result until a cancellation condition is satisfied, and wherein the avoidance process, when the collision condition is satisfied, if the adjacent lane is estimated to be the opposite lane, executes the steering control without causing the own vehicle to enter the adjacent lane.