An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases. Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.