Vehicle state determination device and vehicle state determination method

A vehicle state determination device, comprising:

• an input configured to receive sidewalk information indicating a state of a sidewalk region through which a moving body passes and roadway information indicating a state of a roadway region, the sidewalk region extending along and adjacent the roadway region and being between a position where a vehicle is present and the roadway region;
• and
• a controller configured to determine whether or not a sidewalk entering operation is possible based on the sidewalk information and the roadway information, the sidewalk entering operation being an operation in which the vehicle enters the sidewalk region for entering the roadway region by crossing the sidewalk region,
• wherein the controller is configured to determine, based on the roadway information indicating the state of the roadway region, with the roadway region being on an opposite side of the position of the vehicle through the sidewalk region, whether or not an estimated crossing time is less than or equal to a first threshold, and determine that the sidewalk entering operation is possible under a condition that the estimated crossing time is less than or equal to the first threshold, the estimated crossing time being an estimation value of a minimum time from entry of the vehicle to the sidewalk region until exit from the sidewalk region, and
• wherein the controller is configured to output at least one of a control signal that controls an operation of the vehicle or information that urges or avoids the sidewalk entering operation depending on whether the sidewalk entering operation is possible, the information that urges or avoids the sidewalk entering operation being output to at least one of a display or a speaker.