Provided is a noise-canceling learning device capable of performing control so as to prevent performing processing such as useless deceleration at the same place in self driving, for example, on a highway, and a vehicle including the noise-canceling learning device. The detection determination processing unit 143 of the noise-canceling learning device 14 causes the perceived object to be stored in (a data table of) the information storage unit 144 as a determination object in association with the perceived object and the own vehicle position information, determines whether the perceived object perceived by the sensor recognition perceiving unit 141 and the determination object stored in (a data table of) the information storage unit 144 match based on the position of the own vehicle 1 estimated by the own vehicle position estimating unit 142, and determines whether the perceived object perceived by the sensor recognition perceiving unit 141 is correct.