A control device includes a brake apparatus configured to operate a braking function of a vehicle and at least one rear lamp configured to output visible light to a rear of the vehicle at least in response to an operation of the brake apparatus. The control device also includes a sensing unit configured to sense information related to at least one of the vehicle or a surrounding of the vehicle, and at least one processor. The at least one processor is configured to, based on the information sensed through the sensing unit corresponding to a preset condition and a first vehicle being sensed at the rear of the vehicle, control the at least one rear lamp to output the visible light to the rear of the vehicle in a state in which the brake apparatus is not operated.