CONTROL DEVICE

A control device that performs travel control of a vehicle, includes a processor configured to acquire output information of a sensor configured to detect an object in an around of the vehicle based on a reflected wave from the object. The processor is configured to: acquire detection point data of the object in a peripheral region of the vehicle based on the output information of the sensor; and recognize that a peripheral environment of the vehicle is a travel-restricted section based on a distribution of detection point data in a first group including a plurality pieces of the detection point data on one side in a left-right direction of the vehicle in the peripheral region.