Provided is a periphery recognition device that makes it possible to: minimize the load from object recognition processing for recognizing an object moving between one region covered by a long-distance sensor and/or a wide-angle short-distance sensor to another such region; the periphery recognition device being able to reduce the proportion of non-recognition or erroneous recognition of objects moving from a region covered by the long-distance sensor or the wide-angle short-distance sensor to a boundary region. There is provided a first sensor 11a, a second sensor 11b, a long-distance object recognition unit 13 for recognizing an object present in a long-distance area on the basis of three-dimensional long-distance data calculated on the basis of situation data acquired using the first sensor 11a, a short-distance object recognition unit 14 for recognizing an object present in a wide-angle and short-distance area on the basis of three-dimensional wide-angle short-distance data calculated on the basis of situation data acquired using the second sensor 11b, and a feedback unit 15 for transferring information relating to the objects between the long-distance object recognition unit 13 and the short-distance object recognition unit 14.