Object recognition device

An object recognition device mounted on a vehicle, the object recognition device comprising:

• a sensor configured to detect a situation around the vehicle;
• a storage device in which sensor detection information is stored, the sensor detection information indicating a detection result detected by the sensor;
• and
• a processor configured to
• detect, based on the sensor detection information, a first object and a second object, the first object and the second object being present around the vehicle,
• initially set, based on a detection position of the first object, an integration determination distance, the integration determination distance being a distance used to determine that the first object and the second object belong to the same object,
• estimate a traveling direction of the first object based on the sensor detection information,
• increase the integration determination distance along the traveling direction,
• after increasing the integration determination distance along the traveling direction, determine, based on the integration determination distance, whether the first object and the second object belong to the same object, and
• output the first object and the second object as the same object when it is determined that the first object and the second object belong to the same object.