A mobile body spatial information calculation apparatus according to an embodiment includes an input section configured to receive sensor information including information on one or more target objects based on a position of an own mobile body from a sensor apparatus, an object recognition section configured to recognize the target object based on the sensor information, a calculation section configured to calculate a collision prediction time and a target portion angle based on the sensor information on the target object recognized by the object recognition section, and a spatial information generation section configured to generate spatial information according to the collision prediction time and the target portion angle using the collision prediction time and the target portion angle calculated by the calculation section and store the generated spatial information.