A road shape recognition device that recognizes a road shape of a road that lies ahead in a travel direction of a vehicle, the road shape recognition device comprising: an image capturing unit that captures an image ahead in the travel direction of the vehicle by using a stereo camera, a road region detection unit that detects a road region of the road relative to the image captured by the image capturing unit, and a road shape estimation unit that estimates the road shape of the road relative to the road region detected by the road region detection unit, wherein the road region detection unit detects the road region relative to at least one of luminance information and color information of the image captured by the image capturing unit, wherein the road region detection unit obtains information of at least one of luminance and color distributions of the road region from a past image from which a road region has been detected by the road region detection unit in the past, and detects the road region of the road from the image relative to the obtained information, wherein the road shape recognition is device further comprising: a road boundary point extraction unit that extracts a road boundary point between the road and a road exterior by selecting three-dimensional data that lies at a boundary between the road and the road exterior from among a three-dimensional data group calculated with the stereo camera, a road shape calculation unit that corrects errors in the road shape estimated by the road shape estimation unit using the three-dimensional positions of the road boundary points extracted by the road boundary point extraction unit, wherein the road shape recognition device is further comprising: a navigation information obtaining unit that obtains map data of a vicinity of a host vehicle position from a map database of a vehicle navigation system, wherein a road boundary is detected relative to the road shape estimated with the road shape estimation unit and from a three-dimensional data group calculated with the stereo camera. an image capturing unit that captures an image ahead in the travel direction of the vehicle by using a stereo camera, a road region detection unit that detects a road region of the road relative to the image captured by the image capturing unit, and a road shape estimation unit that estimates the road shape of the road relative to the road region detected by the road region detection unit, wherein the road region detection unit detects the road region relative to at least one of luminance information and color information of the image captured by the image capturing unit, wherein the road region detection unit obtains information of at least one of luminance and color distributions of the road region from a past image from which a road region has been detected by the road region detection unit in the past, and detects the road region of the road from the image relative to the obtained information, wherein the road shape recognition is device further comprising: a road boundary point extraction unit that extracts a road boundary point between the road and a road exterior by selecting three-dimensional data that lies at a boundary between the road and the road exterior from among a three-dimensional data group calculated with the stereo camera, a road shape calculation unit that corrects errors in the road shape estimated by the road shape estimation unit using the three-dimensional positions of the road boundary points extracted by the road boundary point extraction unit, wherein the road shape recognition device is further comprising: a navigation information obtaining unit that obtains map data of a vicinity of a host vehicle position from a map database of a vehicle navigation system, wherein a road boundary is detected relative to the road shape estimated with the road shape estimation unit and from a three-dimensional data group calculated with the stereo camera. a road boundary point extraction unit that extracts a road boundary point between the road and a road exterior by selecting three-dimensional data that lies at a boundary between the road and the road exterior from among a three-dimensional data group calculated with the stereo camera, a road shape calculation unit that corrects errors in the road shape estimated by the road shape estimation unit using the three-dimensional positions of the road boundary points extracted by the road boundary point extraction unit, wherein the road shape recognition device is further comprising: a navigation information obtaining unit that obtains map data of a vicinity of a host vehicle position from a map database of a vehicle navigation system, wherein a road boundary is detected relative to the road shape estimated with the road shape estimation unit and from a three-dimensional data group calculated with the stereo camera. a navigation information obtaining unit that obtains map data of a vicinity of a host vehicle position from a map database of a vehicle navigation system, wherein a road boundary is detected relative to the road shape estimated with the road shape estimation unit and from a three-dimensional data group calculated with the stereo camera.