1. A road shape recognition device that recognizes a road shape of a road that lies ahead in a travel direction of a vehicle, the road shape recognition device comprising: an image capturing unit that captures an image ahead in the travel direction of the vehicle; a road region detection unit that detects a road region of the road based on the image captured by the image capturing unit; and a road shape estimation unit that estimates the road shape of the road based on the road region detected by the road region detection unit.