Information processing device, control method, program, and storage medium

A control unit (7) of a lidar (100) functionally has an acquisition means, an obstacle detection means, a ground detection means, a curb determination means, and a travelable region determination means. The acquisition unit acquires point cloud data. The obstacle detection unit detects an obstacle point from the point cloud data, the obstacle point being data representing a measured point of an obstacle. The ground detection unit detects a ground point, which is data representing a measured point on the ground, from the point cloud data. The curb determination means determines a ground point corresponding to the curb as an obstacle point on the basis of a drivable region of the vehicle determined at a processing time immediately before the current processing time. The travelable region determination means determines a travelable region at the current processing time on the basis of the obstacle point and the ground point. 激光雷达（100）的控制部（7）在功能上具有取得单元、障碍物检测单元、地面检测单元、路缘石判定单元以及可行驶区域决定单元。取得单元取得点云数据。障碍物检测单元根据点云数据检测障