An object recognition method comprising: detecting a plurality of positions on surfaces of objects in surroundings of an own vehicle along a predetermined direction and acquiring a group of points; generating a captured image of surroundings of the own vehicle; grouping points included in the acquired group of points and classifying the points into a group of object candidate points (p1 - p21); extracting, from among object candidate points, the object candidate points being points included in the group of object candidate points, a position at which change in distance from the own vehicle between adjacent object candidate points increases from a value equal to or less than a predetermined threshold value to a value greater than the predetermined threshold value as a boundary position candidate (p1, p7, p10, p21), the boundary position candidate being an outer end position of an object; extracting a region in which a person is detected in the captured image as a partial region by image recognition processing; characterized by: determining whether or not, in the captured image, a position of any of the boundary position candidates in the predetermined direction coincides with a boundary position of the partial region, the boundary position being an outer end position of the partial region; when the position of the boundary position candidate coincides with the boundary position of the partial region, recognizing that a pedestrian exists in the partial region; and recognizing, as the pedestrian, a group of points located in the partial region among the group of object candidate points projected into an image coordinate system of the captured image. detecting a plurality of positions on surfaces of objects in surroundings of an own vehicle along a predetermined direction and acquiring a group of points; generating a captured image of surroundings of the own vehicle; grouping points included in the acquired group of points and classifying the points into a group of object candidate points (p1 - p21); extracting, from among object candidate points, the object candidate points being points included in the group of object candidate points, a position at which change in distance from the own vehicle between adjacent object candidate points increases from a value equal to or less than a predetermined threshold value to a value greater than the predetermined threshold value as a boundary position candidate (p1, p7, p10, p21), the boundary position candidate being an outer end position of an object; extracting a region in which a person is detected in the captured image as a partial region by image recognition processing; characterized by: determining whether or not, in the captured image, a position of any of the boundary position candidates in the predetermined direction coincides with a boundary position of the partial region, the boundary position being an outer end position of the partial region; when the position of the boundary position candidate coincides with the boundary position of the partial region, recognizing that a pedestrian exists in the partial region; and recognizing, as the pedestrian, a group of points located in the partial region among the group of object candidate points projected into an image coordinate system of the captured image. determining whether or not, in the captured image, a position of any of the boundary position candidates in the predetermined direction coincides with a boundary position of the partial region, the boundary position being an outer end position of the partial region; when the position of the boundary position candidate coincides with the boundary position of the partial region, recognizing that a pedestrian exists in the partial region; and recognizing, as the pedestrian, a group of points located in the partial region among the group of object candidate points projected into an image coordinate system of the captured image.