CONTROL DEVICE, CONTROL SYSTEM, CONTROL METHOD, NON-TRANSITORY STORAGE MEDIUM, AND VEHICLE

A control device configured to control motion of a vehicle (1) includes a controller. The controller is configured to execute braking control that generates a braking force for decelerating the vehicle (1) in response to a braking request. The controller is configured to release the braking force by the braking control when a predetermined condition for continuing the braking control is not satisfied, and to maintain the braking force by the braking control when the predetermined condition is satisfied, in a case where an accelerator pedal is operated during execution of the braking control.