Control device for auto lane changing based on object detection around the vehicle

A control device that performs travel control of a vehicle, the control device comprising

• a processor configured to acquire output information of a sensor configured to detect an object in an area around the vehicle based on a reflected wave from the object, wherein
• the processor is configured to:
• acquire first detection point group data of the object in a first region in the area around the vehicle based on the output information of the sensor, and determine whether a predetermined first specific stationary object is present in the first region based on the first detection point group data;
• determine, in response to determining that the first specific stationary object is present in the first region, whether a second specific object is present in a second region based on only the first detection point group data in the second region and excluding the first detection point group data outside the second region that is predetermined to be narrower than the first region in the area around the vehicle;
• perform lane change control of the vehicle;
• and
• restrict the lane change control in response to determining that the second specific object is present in the second region, and
• the second specific object is a pylon.