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 (T); route detection circuitry which detects a first continuous body (U1) 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 (U2) 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 (R1) on which the moving body moves, wherein between the first continuous body and the second continuous body there is a break zone (U4) of the direction distance information, and a third continuous body (U3) 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 (R2) 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 (T); route detection circuitry which detects a first continuous body (U1) 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 (U2) 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 (R1) on which the moving body moves, wherein between the first continuous body and the second continuous body there is a break zone (U4) of the direction distance information, and a third continuous body (U3) 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 (R2) 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 (R2) 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. <EOS>