The present disclosure relates to an information processing apparatus, an information processing method, and a program that make it possible to perform an appropriate collision determination with respect to an obstacle on an inclined road. A result of an object recognition performed on the basis of an image captured by a camera, a result of an object recognition performed on the basis of a result of detection performed by a millimeter-wave radar, and a result of an object recognition performed on the basis of a result of detection performed by LiDAR are respectively detected; a result of the object recognition is selected depending on the environment around a vehicle; and whether there is a possibility of colliding with the object is determined on the basis of the selected result of the object recognition. The present disclosure is applicable to a vehicle-mounted system.