An axial deviation detection device configured to detect axial deviation of a LIDAR system mounted on a vehicle is provided. The axial deviation detection device includes a storage device and a processor. The storage device stores reference plane information indicating a position of a reference plane, and LIDAR measurement information indicating positions of point clouds detected by the LIDAR system in a sensor coordinate system. The processor is configured to extract a road surface point cloud representing a road surface from the point clouds indicated in the LIDAR measurement information, approximate the road surface point cloud by an approximation plane and acquire the approximation plane as an estimated road plane, compare the estimated road plane with the reference plane indicated by the reference plane information, and determine that the axial deviation occurs when a deviation between the estimated road plane and the reference plane is larger than a threshold.