Controller

A controller of a vehicle comprising:

• a processor coupled to a memory storing instructions for the processor to function as:
• an acquisition part that acquires point cloud data as a detection result from a first sensor that is mounted on a vehicle and detects conditions of surroundings of the vehicle at predetermined intervals while the vehicle is traveling;
• a processing part that performs a first process or a second process, which is different from the first process, on the acquired point cloud data, the first process is a process of detecting an object in the surroundings of the vehicle on the basis of the point cloud data, and the second process is a process of performing the first process after filtering the point cloud data by removing, as noise, point data for which no other point data exists within a threshold distance from the point data in the point cloud data;
• a vehicle control part that controls steering by a steering part of the vehicle on the basis of a processing result of the processing part;
• and
• a receiving part that receives an operation related to processing of the point cloud data by a driver of the vehicle during driving of the vehicle,
• wherein the processing part switches between the first process and the second process during driving of the vehicle when the receiving part receives the operation;
• wherein the receiving part receives, as the operation, a first selection operation in which the degree of removal of the point data in the second process is large or a second selection operation in which the degree of removal is small, and
• the processing part removes the point data from the point cloud data in response to the received first selection operation or second selection operations, wherein the processing part decreases the threshold distance in response to the first selection operation and increases the threshold distance in response to the second selection operation.