A determination device comprising: an input terminal which receives one or more first direction distance information representing a direction and a distance to one or more objects existing in a first range, from a first sensor mounted on a moving body; route detection circuitry which detects a first continuous body as part of the one or more first direction distance information with respect to a first object among the one or more objects, and a second continuous body as part of the one or more first direction distance information with respect to a second object which is located farther from the moving body than the first object, among the one or more objects, in a first direction along a first route on which the moving body moves, wherein between the first continuous body and the second continuous body there is a break zone of the direction distance information, and a third continuous body as part of the one or more first direction distance information, in a second direction different from the first direction; the determination device being characterized by: route determination circuitry which determines presence of a second route along the third continuous body when a length of the third continuous body is equal to or more than a first value; and an output terminal which outputs the determination result to a moving body control device, the determination result causing the moving body control device to control the movement of the moving body. an input terminal which receives one or more first direction distance information representing a direction and a distance to one or more objects existing in a first range, from a first sensor mounted on a moving body; route detection circuitry which detects a first continuous body as part of the one or more first direction distance information with respect to a first object among the one or more objects, and a second continuous body as part of the one or more first direction distance information with respect to a second object which is located farther from the moving body than the first object, among the one or more objects, in a first direction along a first route on which the moving body moves, wherein between the first continuous body and the second continuous body there is a break zone of the direction distance information, and a third continuous body as part of the one or more first direction distance information, in a second direction different from the first direction; the determination device being characterized by: route determination circuitry which determines presence of a second route along the third continuous body when a length of the third continuous body is equal to or more than a first value; and an output terminal which outputs the determination result to a moving body control device, the determination result causing the moving body control device to control the movement of the moving body. route determination circuitry which determines presence of a second route along the third continuous body when a length of the third continuous body is equal to or more than a first value; and an output terminal which outputs the determination result to a moving body control device, the determination result causing the moving body control device to control the movement of the moving body.