An abnormality detection device 1 includes a space recognition success determination unit 12 which determines whether an outside space recognition device 51 is successful in space recognition from information which contains space recognition information and environment information, an environment dependence recognition failure classifying unit which determines and classifies whether a failure of the space recognition corresponds to any one of a failure type previously stored in an environment dependence recognition failure type storage unit 24 with respect to the space recognition information determined as failing in the space recognition, and an abnormality detection unit 14 which uses the space recognition information determined as not corresponding to any failure type by the environment dependence recognition failure classifying unit to detect an abnormality of the outside space recognition device 51 in the space recognition information determined as failing in the space recognition.
ABNORMALITY DETECTION DEVICE AND ABNORMALITY DETECTION METHOD