Object recognition device and object recognition method

An object recognition device provided to a sensor platform which is a mobile object or a roadside unit, the object recognition device comprising:

• an object detector which detects, as an object, a thing present around the sensor platform;
• a processing target object storage which stores the object as a processing target object, with a number thereof being a predetermined upper limit value or smaller, such that the processing target object is associated with an evaluation value for storing and keeping the processing target object, the evaluation value being determined in accordance with a situation of the object relative to the sensor platform;
• and
• an object processing circuitry which, in a case where the processing target objects whose number is the upper limit value are stored in the processing target object storage, performs selection storage processing of selecting a processing target object associated with a lowest evaluation value among the processing target objects whose number is the upper limit value and which are stored in the processing target object storage, determining one object of the selected processing target object and an object newly detected by the object detector on the basis of the evaluation value for the selected processing target object and the evaluation value for the object newly detected by the object detector, and storing the determined object as the processing target object in the processing target object storage, wherein
• the evaluation value to be associated with each object includes a plurality of evaluation values based on a plurality of criteria that are different kinds, and
• in the selection of the processing target object associated with the lowest evaluation value, the object processing circuitry extracts processing target objects as candidates for the selection by the first evaluation value based on a first criterion among the plurality of criteria, from the processing target objects whose number is the upper limit value and which are stored in the processing target object storage, and selects the processing target object associated with the lowest evaluation value, from the processing target objects extracted as the candidates for the selection, on the basis of a second evaluation value based on a second criterion different from the first criterion among the plurality of criteria.