A traveling road surface detection device is provided. The traveling road surface device determines a road surface area, a stereoscopic object existence area where a stereoscopic object exists, and an indeterminate area other than the road surface area and the stereoscopic object existence area based on a parallax image of the surroundings of the vehicle, detects a traveling road surface that sequentially extends in a direction away from the vehicle based on the captured image, estimates a height position of a road surface within the road surface area based on the parallax information, and specifies an area including a parallax point with a height equal to or greater than a predetermined threshold value from the height position of the road surface in the indeterminate area as a parallax height existence area based on the estimated height position of the road surface and the parallax information.
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