CONTROL DEVICE, CONTROL METHOD, AND PROGRAM

A control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk includes a recognizer configured to recognize positions of the pedestrians in a time series, a calculator configured to calculate an index value indicating a degree of cooperation of each of the pedestrians on a basis of a result of the recognition by the recognizer, a setter configured to set a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases, and a generator configured to generate a route for the moving body to follow in the future to avoid the risk area.