Perimeter monitoring device, control device, perimeter monitoring method, and program

摘要

A surroundings monitoring device includes a median strip determination unit that determines whether or not there is a median strip in a road around a vehicle, and a progression direction estimation unit that estimates that a plurality of lanes in front of the median strip in a case that viewed from the vehicle among lanes included in a crossroad crossing a road on which the vehicle is traveling are lanes in the same progression direction in a case that the vehicle reaches the crossroad and the median strip determination unit determines that there is the median strip in the crossroad.