An erroneous detection determination device includes: a signal acquisition unit configured to acquire, from each of microphones, a plurality of audio signals relating to ambient sound including sound from a sound source in a certain direction; a result acquisition unit configured to acquire a recognition result including voice activity information indicating the inclusion of a voice activity relating to at least one of the audio signals; a calculation unit configured to calculate, for each of audio signals on the basis of the signals in respective unit times and the certain direction, a speech arrival rate representing the proportion of the sound from the certain direction to the ambient sound in each of the unit times; and an error detection unit configured to determine, on the basis of the recognition result and the speech arrival rate, whether or not the voice activity information is the result of erroneous detection.