INFORMATION PROCESSING DEVICE

An information processing device estimates a road shape of a road on which a host vehicle travels based on map information acquired from a map information unit and sensor information acquired from a sensor unit. The information processing device includes a sensor resolution characteristic management unit which manages a sensor resolution characteristic of the sensor unit, which corresponds to a distance from a host vehicle position of the host vehicle to a position where the intersection shape changes, an appearance prediction unit which predicts an appearance of the road corresponding to the distance based on the sensor resolution characteristic acquired from the sensor resolution characteristic management unit, and a model generation unit which generates a road model obtained by modeling the road based on the appearance of the road predicted by the appearance prediction unit.