An information processing device includes: an data acquisition unit that acquires sensor data of an infrastructure sensor; an object information generation unit that generates object information based on the sensor data; a detection range estimation unit that estimates an object detection range based on at least partial information constituting the object information; an intersection determination unit that determines whether the objects intersect with each other within a predetermined time based on at least partial information constituting the object information; and a signal output unit that outputs an intersection avoidance signal when a position of a second object is outside the object detection range of a first object or when the position of the first object is outside the object detection range of the second object.