An attack detection device comprising: a characteristic detection unit configured to treat sensor data detected by a sensor as a waveform of time-series data, and detect in the waveform of the sensor data a corresponding characteristic corresponding to a reference characteristic, the characteristic detection unit detecting the corresponding characteristic for each of a plurality of reference characteristics of respectively different types; wherein the reference characteristic is a characteristic to be detected in the waveform of the sensor data, and the corresponding characteristic is a characteristic corresponding to one reference characteristic of the plurality of different reference characteristics; wherein the characteristic detection unit is further configured to detect, as the corresponding characteristic, a frequency characteristic, an amplitude change characteristic, a periodic change, an abrupt change, bias, and continued superposition of a sine wave, in the waveform indicated by the sensor data; and an attack determination unit configured to determine presence or absence of an attack on the sensor, based on a plurality of said corresponding characteristics, each detected for a corresponding one of the plurality of reference characteristics; wherein the characteristic detection unit generates each of the corresponding characteristics as a score indicating a degree of matching with the reference characteristic corresponding to the corresponding characteristic, and wherein the attack determination unit determines the presence or absence of an attack on the sensor, using the score indicating each of the corresponding characteristics. a characteristic detection unit configured to treat sensor data detected by a sensor as a waveform of time-series data, and detect in the waveform of the sensor data a corresponding characteristic corresponding to a reference characteristic, the characteristic detection unit detecting the corresponding characteristic for each of a plurality of reference characteristics of respectively different types; wherein the reference characteristic is a characteristic to be detected in the waveform of the sensor data, and the corresponding characteristic is a characteristic corresponding to one reference characteristic of the plurality of different reference characteristics; wherein the characteristic detection unit is further configured to detect, as the corresponding characteristic, a frequency characteristic, an amplitude change characteristic, a periodic change, an abrupt change, bias, and continued superposition of a sine wave, in the waveform indicated by the sensor data; and an attack determination unit configured to determine presence or absence of an attack on the sensor, based on a plurality of said corresponding characteristics, each detected for a corresponding one of the plurality of reference characteristics; wherein the characteristic detection unit generates each of the corresponding characteristics as a score indicating a degree of matching with the reference characteristic corresponding to the corresponding characteristic, and wherein the attack determination unit determines the presence or absence of an attack on the sensor, using the score indicating each of the corresponding characteristics.