| 摘要 |
PROBLEM TO BE SOLVED: To provide an object recognition device that can appropriately recognize a kind of an object present around a moving body.SOLUTION: In an object recognition device 12, a combination of a first object and a second object which are determined as the same target object by matching means 64 is recognized, and then, after the second object is not recognized, attribute takeover determination means 66 further provided determines whether a kind of the second object is taken over as an attribute of the target object. The attribute takeover determination means 66 takes over the kind of the second object as the attribute of the target object under at least a condition that an attribute non-recognition time since the second object is not recognized is equal to or less than a predetermined attribute takeover allowance threshold. |
