Control device

A control device having a lane change function to execute lane change control of changing a lane in which a moving object travels, the moving object including an external sensor configured to detect an object around the moving object, the control device comprising:

• a recognition unit configured to recognize a surrounding situation of the moving object based on a detection result of the external sensor;
• an estimation unit configured to estimate, based on the surrounding situation recognized by the recognition unit, whether another moving object is present in a specific region in which accuracy of detecting the object by the external sensor is relatively lower as compared with that in other regions;
• and
• a travel control unit configured to execute the lane change control based on the surrounding situation recognized by the recognition unit and an estimation result of the estimation unit, wherein
• the lane change function is switchable to be enabled or disabled in response to an instruction from an occupant of the moving object, the lane change control is executable when the lane change function is enabled, and the lane change control is not executable when the lane change function is disabled,
• in a case where the lane change function is enabled, the travel control unit is configured to
• restrict, in response to the estimation unit estimating that the other moving object is present in the specific region, execution of the lane change control,
• release, in response to a state in which it is estimated that the other moving object is present in the specific region being eliminated after the execution of the lane change control is restricted, restriction placed on the lane change control, and
• disable the lane change function in response to the state in which it is estimated that the other moving object is present in the specific region continuing for a predetermined time after the execution of the lane change control is restricted,
• the recognition unit recognizes another moving object detected in a detection region in which the detection accuracy of the external sensor is higher than that in the specific region,
• the estimation unit estimates that the other moving object is present in the specific region when the accuracy of detecting the other moving object is decreased as compared with that in the detection region or when the other moving object is no longer detected around the moving object,
• after the execution of the lane change control is restricted in a case where the lane change function is enabled, the travel control unit releases the restriction placed on the lane change control in response to the other moving object estimated to be present in the specific region being detected again in the detection region,
• the recognition unit recognizes identification information for identifying an object detected in the detection region,
• the recognition unit recognizes, when the identification information of the object detected in the detection region after the other moving object is estimated to be present in the specific region matches identification information of the other moving object estimated to be present in the specific region, that the object detected in the detection region is the other moving object, and
• the recognition unit, the estimation unit, the travel control unit, and the reception unit are each implemented via at least one processor.