Systems, methods, and programs for determining whether a vehicle is off-road or on-road, store map data, determine the vehicle's current position; and obtain information about an area around the current position of the vehicle from the stored map data. The systems, methods, and programs obtain information related to a road-side zone of a road from the obtained information about the area around the current position of the vehicle, and determine that the road-side zone is crossed. The systems, methods, and programs may make an off-road determination if the determined current position of the vehicle was on-road before the crossing of the road-side zone and make an on-road determination if the current position of the vehicle was off-road before the crossing of the road-side zone.