Blinker judgment device and autonomous driving system

An autonomous driving system comprising:

• a blinker judgment device mounted on a vehicle, comprising:
• an information acquisition device configured to acquire surrounding situation information indicating a situation around the vehicle;
• and
• a control device configured to:
• recognize blinker flashing of a target vehicle based on image information of the target vehicle;
• check, based on the surrounding situation information, whether or not there is a cause for the target vehicle to make a lane change, in response to recognition of the blinker flashing based on the image information;
• judge that the recognition of the blinker flashing based on the image information is falsely positive in response to the reasonableness check processing determining that the cause does not exist;
• and
• devise a travel plan based on the recognition of the blinker flashing in response to determining that the cause exists.