1. An intersection recognition device installed in a vehicle, the intersection recognition device comprising: an image acquisition unit that acquires images around the moving vehicle; an extraction unit that extracts, from the images acquired by the image acquisition unit, a type and a position of at least one traffic marking existing around the vehicle; and a determination unit that determines whether an intersection exists based on the type of the at least one traffic marking extracted by the extraction unit and a relative position relationship between the at least one traffic marking and the vehicle, wherein: the extraction unit extracts a type and a position of at least one peripheral object in addition to the at least one traffic marking; and the determination unit determines that the vehicle has passed through an intersection when having difficulty recognizing the at least one traffic marking and the at least one peripheral object after the positions of the at least one traffic marking and the at least one peripheral object relative to the vehicle are gradually shortened.