INFORMATION PROCESSING DEVICE, CONTROL METHOD, PROGRAM AND STORAGE MEDIUM

The control unit of the in-vehicle device is configured to extract, from voxel data VD that is position information of an object for each of unit areas (voxels) into which a space is divided, the voxel data VD of plural voxels located at or around an own vehicle. Then, the control unit is configured to calculate a normal vector of an approximate plane calculated based on the extracted voxel data VD of the plural voxels. Then, the control unit is configured to calculate at least one of a pitch angle of the own vehicle or a roll angle of the own vehicle based on an orientation of the own vehicle and the normal vector.