Object recognition apparatus

An object recognition apparatus mounted on a vehicle, configured to recognize an object existing in the vicinity of the own vehicle, the object recognition apparatus comprising:

• a positional information acquiring unit configured to acquire, when a reception intensity peak of reflection waves contained in an object detection signal exceeds a threshold, positional information corresponding to the reception intensity peak, the object detection signal being generated by an object sensor mounted on the vehicle, the object sensor emitting probing waves as electromagnetic waves and receiving reflection waves of the probing waves which are reflected at the object;
• an object tracking unit that executes, based on the positional information acquired by the positional information acquiring unit, a tracking process of the object;
• and
• a state identifying unit that identifies a state of the object based on a result of the tracking process executed by the object tracking unit,
• wherein
• the positional information acquiring unit comprises:
• a first acquiring unit that acquires, when the reception intensity peak exceeds a first threshold as the threshold, a first observation information as the positional information corresponding to the reception intensity peak;
• a second acquiring unit that acquires, when the reception intensity peak exceeds a second threshold as the threshold different from the first threshold, a second observation information as the positional information corresponding to the reception intensity peak;
• the object tracking unit comprises:
• a first tracking processing unit that executes the tracking process based on the first observation information;
• and
• a second tracking processing unit that executes the tracking process based on the second observation information,
• either one of the first tracking processing unit or the second tracking processing unit has anti-clutter characteristics higher than that of the other one;
• and
• the state identifying unit identifies the state of the object based on a result of the tracking process executed by the first tracking processing unit and the second tracking processing unit.