Vehicle exterior environment recognition apparatus

A vehicle exterior environment recognition apparatus, comprising:

• a first width derivation unit configured to derive a first width of a first three-dimensional object on a basis of a luminance image, the luminance image being configured to identify luminance of a target of imaging;
• a second width derivation unit configured to derive a second width of a second three-dimensional object on a basis of a distance image, the distance image being configured to identify a distance to the target of imaging;
• a degree-of-overlap derivation unit configured to obtain an overlap width with which the first width and the second width overlap in a horizontal direction, and set, as a degree of overlap, whichever is greater out of a value obtained by dividing the overlap width by the first width and a value obtained by dividing the overlap width by the second width;
• and
• a specific object determination unit configured to determine that the first three-dimensional object and the second three-dimensional object are an identical specific object, on a condition that the degree of overlap is greater than a predetermined threshold.