Provided is a technology for improving accuracy when determining the next action. A travel history generation unit (1102) generates, for each driver, a travel history obtained by associating environmental parameters indicating the travel environment through which a vehicle has traveled in the past, and an action selected by the driver in response to the environmental parameters. An acquisition unit (1108) acquires a travel history similar to the travel history of the current driver from among the travel histories generated by the travel history generation unit (1102). A driver model generationunit (1110) generates a driver model on the basis of the travel history acquired by the acquisition unit (1108). A determination unit (1112) determines the next action on the basis of the driver model generated by the driver model generation unit (1110) and the environmental parameters indicating the current vehicle travel environment.