A control device for controlling an agricultural vehicle that travels in a field where a ridge is formed, the control device comprising: a direction identifying data generator that generates direction identifying data including at least a portion of acquired point group data indicating a position of a region including the ridge in front of the agricultural vehicle in a traveling direction; a direction identification part that identifies a direction of the ridge on the basis of the direction identifying data; and a travel control part that controls the agricultural vehicle such that the agricultural vehicle travels along the direction of the ridge identified by the direction identification part, characterized in that the control device comprising a three-dimensional data generator that generates three-dimensional data indicating a three-dimensional geometry of the region on the basis of the point group data, wherein the direction identifying data generator generates the direction identifying data by extracting a portion of the point group data corresponding to a predetermined range effective for identifying the direction of the ridge, from among the point group data included in the three-dimensional data, the acquired point group data is data acquired by radiating a pulsed laser light from a laser light irradiation source, and the three-dimensional data generator generates the three-dimensional data corresponding to the three-dimensional geometry of the region with a horizontal plane as a reference by converting the position of the acquired point group data in three-dimensional space on the basis of the relationship between the position of the laser light irradiation source and the irradiation position of the laser light. a direction identifying data generator that generates direction identifying data including at least a portion of acquired point group data indicating a position of a region including the ridge in front of the agricultural vehicle in a traveling direction; a direction identification part that identifies a direction of the ridge on the basis of the direction identifying data; and a travel control part that controls the agricultural vehicle such that the agricultural vehicle travels along the direction of the ridge identified by the direction identification part, characterized in that the control device comprising a three-dimensional data generator that generates three-dimensional data indicating a three-dimensional geometry of the region on the basis of the point group data, wherein the direction identifying data generator generates the direction identifying data by extracting a portion of the point group data corresponding to a predetermined range effective for identifying the direction of the ridge, from among the point group data included in the three-dimensional data, the acquired point group data is data acquired by radiating a pulsed laser light from a laser light irradiation source, and the three-dimensional data generator generates the three-dimensional data corresponding to the three-dimensional geometry of the region with a horizontal plane as a reference by converting the position of the acquired point group data in three-dimensional space on the basis of the relationship between the position of the laser light irradiation source and the irradiation position of the laser light. the direction identifying data generator generates the direction identifying data by extracting a portion of the point group data corresponding to a predetermined range effective for identifying the direction of the ridge, from among the point group data included in the three-dimensional data, the acquired point group data is data acquired by radiating a pulsed laser light from a laser light irradiation source, and the three-dimensional data generator generates the three-dimensional data corresponding to the three-dimensional geometry of the region with a horizontal plane as a reference by converting the position of the acquired point group data in three-dimensional space on the basis of the relationship between the position of the laser light irradiation source and the irradiation position of the laser light.