A camera device mountable at a vehicle including a plurality of image capturing units (107, 108) which each are configured to take an image of a traveling road ahead of a target vehicle, characterized by comprising: a distance information calculation unit configured to calculate the presence or absence of three-dimensional objects ahead by comparing respective images picked up by a left image capturing unit and a right image capturing unit, and to calculate a distance from the vehicle to the three-dimensional objects ahead, a three-dimensional object ahead detection unit configured to detect three-dimensional non-moving objects ahead existing in an area of a vanishing point of the traveling road using the distances calculated by the distance information calculation unit; a white line detection unit configured to detect a white line of the traveling road in a near portion before a limit point which is the limit point up to which the white line detection is reliable and deleting the output farther than the limit point, a roadside detection unit configured to detect a roadside three-dimensional object arranged along a side of the traveling road, a curve ahead estimation unit configured to estimate a road shape of the traveling road, wherein the curve ahead estimation unit is configured to estimate the road shape of a distant portion, which is located farther away from the vehicle than a near portion, using the output of three-dimensional object ahead detection unit, and the curve ahead estimation unit is configured to estimate a road shape of the near portion on the traveling road, which is located between the vehicle and the distant portion, using a detection result detected by the white line detection unit or by the roadside detection unit. a distance information calculation unit configured to calculate the presence or absence of three-dimensional objects ahead by comparing respective images picked up by a left image capturing unit and a right image capturing unit, and to calculate a distance from the vehicle to the three-dimensional objects ahead, a three-dimensional object ahead detection unit configured to detect three-dimensional non-moving objects ahead existing in an area of a vanishing point of the traveling road using the distances calculated by the distance information calculation unit; a white line detection unit configured to detect a white line of the traveling road in a near portion before a limit point which is the limit point up to which the white line detection is reliable and deleting the output farther than the limit point, a roadside detection unit configured to detect a roadside three-dimensional object arranged along a side of the traveling road, a curve ahead estimation unit configured to estimate a road shape of the traveling road, wherein the curve ahead estimation unit is configured to estimate the road shape of a distant portion, which is located farther away from the vehicle than a near portion, using the output of three-dimensional object ahead detection unit, and the curve ahead estimation unit is configured to estimate a road shape of the near portion on the traveling road, which is located between the vehicle and the distant portion, using a detection result detected by the white line detection unit or by the roadside detection unit.