Object recognition device

The invention relates to an object recognition device, and provides the technology which can prevent a condition that different objects detected in a curved lane are wrongly determined as the same object. A solid object fusion portion includes a lane slope estimation portion, a grouping area set portion and an identity determination portion. The lane slope estimation portion performs estimate processing to estimate a lane slope angle theta in a detecting position of a solid object detected by an autonomous recognition sensor. The grouping area set portion performs setting processing to set a grouping area GA used in determination processing in the identity determination portion. Based on the grouping area GA, the identity determination portion determines whether or not the solid object detected by a certain autonomous recognition sensor is identical to the solid object detected by an autonomous recognition sensor which is different from the certain autonomous recognition sensor. 本发明涉及物体识别装置，提供能够防止将在曲线车道中检测到的不