OBJECT RECOGNITION DEVICE, MOVABLE BODY COLLISION PREVENTION DEVICE, AND OBJECT RECOGNITION METHOD

An object recognition device includes a first sensor that acquires an image of an object present outside a movable body, a second sensor that detects a distance to the object, and a recognition unit that recognizes a position of the object with respect to the movable body and a shape of the object at the position by using outputs from the first sensor and the second sensor. If determining that the object is a first type object having a size equal to or more than a predetermined size, the recognition unit determines an actual shape of the object based on an image of the object acquired by the first sensor and the distance detected by the second sensor, and recognizes that the object is present as the actual shape at a position distanced from the movable body by the distance.