Abstract: An object recognition device for a vehicle includes a size determining means, an existence condition determining means, and an adverse condition determining means. The size determining means determines that the recognized objects are large when a size of the objects is larger than a given determination value. The existence condition determining means determines whether at least a given number of the objects are determined to be large by the size determining means. The adverse condition determining means identifies an adverse condition related to recognizing the objects when at least the given number of the objects are determined to be large by the existence condition determining means.

Abstract: An object recognition device for a vehicle includes a size determining means, an existence condition determining means, and an adverse condition determining means. The size determining means determines that the recognized objects are large when a size of the objects is larger than a given determination value. The existence condition determining means determines whether at least a given number of the objects are determined to be large by the size determining means. The adverse condition determining means identifies an adverse condition related to recognizing the objects when at least the given number of the objects are determined to be large by the existence condition determining means.

Abstract: An object recognition device includes a radar unit, a recognition range setting means, a recognition means, a speed detection means, and a recognition range switching means. The radar unit is for emitting transmission waves in a plurality of angular ranges within a recognition range set from the plurality of angular ranges and for receiving reflected transmission waves from a reflecting object. The recognition range setting means sets the recognition range and instructs the radar unit to emit the transmission waves. The recognition means recognizes the reflecting object based on a result of emission and receipt of waves by the radar unit. The speed detection means detects a vehicle speed. The recognition range switching means switches the recognition range to a new recognition range when the detected speed is smaller than a predetermined speed.