CONTROL DEVICE, CONTROL METHOD, AND STORAGE MEDIUM

A control device for a moving object includes: a storage that stores parking information indicating a movement start point of the moving object, a parking section of the moving object, and a movement route of the moving object from the movement start point to the parking section; and processing circuitry configured to acquire external environment information of the moving object, perform position estimation on the moving object based on a feature extracted from the external environment information and map information, perform movement control to move the moving object from the movement start point to the parking section based on a result of the position estimation and the parking information, and issue, according to reliability of the position estimation, a guidance notification to guide a user to perform an operation for improving the reliability of the position estimation.