CONTROL DEVICE, CONTROL METHOD, AND PROGRAM

A control device includes recognition-part that recognizes position of object present around moving-body based on image obtained by imaging state around the moving-body, occupancy-grid-diagram-generation-part that generates occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving-body, and route generation part that generates a route, which the moving-body follows based on contour of the object shown in the occupancy grid diagram, and the occupancy-grid-diagram-generation-part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving-body, generates first contour showing contour of first region including grid cell in which it is determined that the object is present, and generates second contour including the first region with apex number smaller than that of the first contour as the contour of the object.