A control device (100) for controlling a vehicle lamp (210) provided in a vehicle is provided. The device includes: a receiver (102) configured to receive an acceleration signal representing an acceleration of the vehicle, from an acceleration sensor configured to detect the acceleration of the vehicle, wherein an inclination angle (θ) of the vehicle with respect to a horizontal plane is calculated based on the acceleration signal; a controller (104) configured to: i) generate a first control signal instructing the vehicle lamp to adjust an optical axis of the vehicle lamp in response to a change of the acceleration signal, when the vehicle has already stopped; and ii) generate a second signal instructing the vehicle lamp to maintain the optical axis of the vehicle lamp, when the vehicle is traveling on a road surface.