An information processing apparatus capable of assisting safe driving of a vehicle at a place such as an intersection where the view from the vehicle is obstructed or restricted is provided. A detection processing unit detects a traffic mirror in an image and an object in the traffic mirror on the basis of image information representing an image captured by an image capturing apparatus mounted in a vehicle. And a calculating unit calculates a difference between a size of the detected traffic mirror and a reference size and calculates a size of the object by using the calculated difference. Driving assist information for the vehicle is generated on the basis of the calculated size of the object, and the generated driving assist information is output.