A road configuration estimation apparatus (100; 200) comprising: a relative position acquisition unit (130; 211) adapted to obtain a result of an observation by a peripheral object observation device adapted to repeatedly observe an object located in the vicinity of a moving object to measure a relative position of the object relative to the moving object; a determination unit (130; 220) adapted to determine whether or not the object observed by the peripheral object observation device is still, based on the result of the observation obtained by the relative position acquisition unit; characterised in that: an object correlation unit (140; 230) adapted to determine a set of relative positions measured by observing an identical object by the peripheral object observation device at different times, from among a plurality of the relative positions measured by the peripheral object observation device, based on a plurality of the results of the observations obtained by the relative position acquisition unit; and a computation unit (160; 240) adapted to compute an approximate curve that approximates a configuration of a road on which the moving object is located, based on a result of the determination by the determination unit and a result of the determination by the object correlation unit. a relative position acquisition unit (130; 211) adapted to obtain a result of an observation by a peripheral object observation device adapted to repeatedly observe an object located in the vicinity of a moving object to measure a relative position of the object relative to the moving object; a determination unit (130; 220) adapted to determine whether or not the object observed by the peripheral object observation device is still, based on the result of the observation obtained by the relative position acquisition unit; characterised in that: an object correlation unit (140; 230) adapted to determine a set of relative positions measured by observing an identical object by the peripheral object observation device at different times, from among a plurality of the relative positions measured by the peripheral object observation device, based on a plurality of the results of the observations obtained by the relative position acquisition unit; and a computation unit (160; 240) adapted to compute an approximate curve that approximates a configuration of a road on which the moving object is located, based on a result of the determination by the determination unit and a result of the determination by the object correlation unit. an object correlation unit (140; 230) adapted to determine a set of relative positions measured by observing an identical object by the peripheral object observation device at different times, from among a plurality of the relative positions measured by the peripheral object observation device, based on a plurality of the results of the observations obtained by the relative position acquisition unit; and a computation unit (160; 240) adapted to compute an approximate curve that approximates a configuration of a road on which the moving object is located, based on a result of the determination by the determination unit and a result of the determination by the object correlation unit.