There is provided a road configuration estimation apparatus that precludes influences of erroneous detection of an object and erroneous still determination and estimates a road configuration.;A radar (peripheral object observation device) 110 repeatedly observes a relative position of an object relative to the moving object, which is located in the vicinity of a moving object. A stationary object identification unit (stationary object determination unit) 130 determines whether or not the object the relative positions of which have been observed by the radar 110 is still. A road approximate curve temporary computation unit (object correlation unit) 140 determines a plurality of the relative positions of an identical object observed by the radar 110 from among the relative positions observed by the radar 110. A road approximate curve main computation unit (approximate curve computation unit) 160 computes an approximate curve that approximates the configuration of a road on which the moving object is located, based on a result of the determination by the stationary object identification unit 130 and a result of the determination by the road approximate curve computation unit 140. 展开▼
