An information presentation device (103) comprises: a grip detection unit (340) that, on the basis of grip detection information pertaining to a state of contact between a moving body (100) driver and a steering wheel (200) and pattern information indicating a pattern of contact between the steering wheel (200) and a palm of a hand or the like, determines a part of the palm of the hand or the like with which the driver is gripping the steering wheel (200) and generates grip information including information of the part of the palm of the hand or the like; and a stimulus generation unit (350) that, when there is a possibility of the moving body (100) making contact with an obstacle located in the periphery of the moving body (100), generates, on the basis of the grip information, stimulus information that guides the driver to avoid the obstacle.