To provide a technology for discriminating and highly accurately recognizing a vehicle, motorbike, and person (pedestrian) or the like based on the detection pattern of the reflection of an in-vehicle radar even when a distance between the vehicle and an object as the target of recognition changes.

The detection pattern of the reflection of a laser radar 2 which changes according to a distance between an object as the target of search and the laser radar 2 is stored in a storage part 7 as the characteristic pattern of each distance for each type of the object, and the detection pattern of the reflection of the laser radar 2 is collated with the characteristic pattern stored in the storage part 7 by a recognition processing part 4, and the type of the object of the detection pattern is discriminated, so that even when the distance between the vehicle and the object as the target of recognition changes, it is possible to discriminate and highly accurately recognize the vehicle, motorbike, bicycle and pedestrian (person) or the like based on the detection pattern of the reflection of the laser radar 2.