The present invention provides a control device that can improve assistance performance for a rider. The present invention also provides a rider assistance system equipped with such a control device. The present invention further provides a control method for such a rider assistance system. When travel orientation information of a leaning vehicle (100) is acquired and the travel orientation information indicates that leaning of the leaning vehicle (100) exceeds a reference, the initiation of a first rider assistance operation for assisting with driving by a rider by using information pertaining to a first target (T1) located to a side of a travel line (DL) of the leaning vehicle (100) is prohibited, and the initiation of a second rider assistance operation for assisting with driving by the rider by using information pertaining to a second target (T2) located on the travel line (DL) of the leaning vehicle (100) is permitted.
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