A control device which controls at least a first vehicle among unmanned vehicles forming a group of unmanned vehicles, the control device comprising: vehicle information acquisition means configured to acquire information on a state of a second vehicle among the unmanned vehicles; action comparison means configured to acquire information on a state of the second vehicle from the vehicle information acquisition means, to acquire a sensor signal containing information on a state of the first vehicle, and to calculate a plurality of comparison values for a respective plurality of kinds of actions that the first vehicle is to take by using acquired information on the first vehicle and the second vehicle; action selection means configured to select an action that the first vehicle is to take, based on the plurality of comparison values for the respective plurality of kinds of actions, which are calculated by the action comparison means; operation amount calculation means configured to calculate an operation amount of the first vehicle by using information on the selected action selected by the action selection means and information on a state of the second vehicle, which is acquired from the vehicle information acquisition means; and characterised by operation setting means configured to set an operation setting value of an actuator for operating the first vehicle by using the calculated operation amount of the first vehicle, which is calculated by the operation amount calculation means, wherein the action comparison means is configured to generate, for each of the plurality of kinds of actions that the first vehicle is to take, a first evaluation function for the operation amount of the first vehicle, based on information on a state of the first vehicle, and a second evaluation function for the operation amount of the second vehicle, based on information on a state of the second vehicle, and configured to calculate, as the corresponding comparison value, an evaluation function improvement degree based on the first evaluation function and the second evaluation function, and the action selection means configured to select an action that the first vehicle is to take by comparing the evaluation function improvement degrees with each other, which are calculated by the action comparison means for the plurality of kinds of actions that the first vehicle is to take. vehicle information acquisition means configured to acquire information on a state of a second vehicle among the unmanned vehicles; action comparison means configured to acquire information on a state of the second vehicle from the vehicle information acquisition means, to acquire a sensor signal containing information on a state of the first vehicle, and to calculate a plurality of comparison values for a respective plurality of kinds of actions that the first vehicle is to take by using acquired information on the first vehicle and the second vehicle; action selection means configured to select an action that the first vehicle is to take, based on the plurality of comparison values for the respective plurality of kinds of actions, which are calculated by the action comparison means; operation amount calculation means configured to calculate an operation amount of the first vehicle by using information on the selected action selected by the action selection means and information on a state of the second vehicle, which is acquired from the vehicle information acquisition means; and characterised by operation setting means configured to set an operation setting value of an actuator for operating the first vehicle by using the calculated operation amount of the first vehicle, which is calculated by the operation amount calculation means, wherein the action comparison means is configured to generate, for each of the plurality of kinds of actions that the first vehicle is to take, a first evaluation function for the operation amount of the first vehicle, based on information on a state of the first vehicle, and a second evaluation function for the operation amount of the second vehicle, based on information on a state of the second vehicle, and configured to calculate, as the corresponding comparison value, an evaluation function improvement degree based on the first evaluation function and the second evaluation function, and the action selection means configured to select an action that the first vehicle is to take by comparing the evaluation function improvement degrees with each other, which are calculated by the action comparison means for the plurality of kinds of actions that the first vehicle is to take.