PRECEDING OBJECT RECOGNITION DEVICE, VEHICLE CONTROL COMMAND DEVICE, AND PROGRAM AND METHOD FOR RECOGNIZING PRECEDING OBJECT

PROBLEM TO BE SOLVED: To provide a preceding object recognition device capable of acquiring object position information of an object in front of an own vehicle and recognizing the object.SOLUTION: The preceding object recognition device includes: first detection means 2 for acquiring a reflection wave from first acquisition means R1 and detecting object position information; second detection means 3 for acquiring information from second acquisition means R2 relying on a method different from the first acquisition means and detecting object position information; and determination output selection means 5 which has level calculation means. The determination output selection means chooses to output the object position information from the first detection means 2 if, as a result of comparison between a prescribed threshold and a level of reflection intensity calculated by the level calculation means on the basis of the reflection wave, it is determined that the level does not surpass the threshold, and chooses to output the object position information in which the object is detected by the first detection means 2 or the second detection means 3 if the level surpasses the threshold.