An object recognition apparatus (20, 20A, 20B) that recognizes a position of an object existing behind an own vehicle, comprising: an image sensing device (8,8A, 8B) that captures an image of an environment at the front or rear side of the own vehicle; a detection unit that detects at least one of a vehicle lane at the front or rear side of the own vehicle on the basis of the image captured by the image sensing device (8, 8A, 8B) and a stationary object at the front or rear side of the own vehicle on the basis of the image captured by the image sensing device (8, 8A, 8B); a position estimation unit (4, 4A, 4B) that estimates a position of at least one of the vehicle lane behind the own vehicle and the stationary object on the basis of a travel history of the own vehicle and detection result of the detection unit; a rear object detection unit (7, 7A, 7B) that detects an object existing behind the own vehicle; and a relative position calculation unit (5, 5A, 5B) that calculates a relative position of the object detected by the rear object detection unit (7, 7A, 7B) with respect to at least one of the position of the vehicle lane and the position of the stationary object estimated by the position estimation unit (4, 4A, 4B); said object recognition apparatus being characterized in that it further comprises: a travel history calculation unit (11, 11A, 11B) that calculates a travel history of the own vehicle on the basis of information obtained from a vehicle speed sensor, a yaw rate sensor (22, 22A, 22B), a steering angle sensor (21, 21A, 21B), and a navigation system (24, 24A, 24B); and a determination unit which is configured to determine whether a target vehicle, detected as the object existing behind the own vehicle, is at the inside or the outside of the stationary object, to determine the reliability of the detection result of the target vehicle, on the basis of a large/small relation transmitted from the relative position calculation unit (5, 5A, 5B) and by determining an influence of the stationary object with respect to the detection result of the target vehicle obtained by the rear object detection unit (7, 7A, 7B) and is further configured to transmit the determination result to a control unit of the own vehicle. an image sensing device (8,8A, 8B) that captures an image of an environment at the front or rear side of the own vehicle; a detection unit that detects at least one of a vehicle lane at the front or rear side of the own vehicle on the basis of the image captured by the image sensing device (8, 8A, 8B) and a stationary object at the front or rear side of the own vehicle on the basis of the image captured by the image sensing device (8, 8A, 8B); a position estimation unit (4, 4A, 4B) that estimates a position of at least one of the vehicle lane behind the own vehicle and the stationary object on the basis of a travel history of the own vehicle and detection result of the detection unit; a rear object detection unit (7, 7A, 7B) that detects an object existing behind the own vehicle; and a relative position calculation unit (5, 5A, 5B) that calculates a relative position of the object detected by the rear object detection unit (7, 7A, 7B) with respect to at least one of the position of the vehicle lane and the position of the stationary object estimated by the position estimation unit (4, 4A, 4B); said object recognition apparatus being characterized in that it further comprises: a travel history calculation unit (11, 11A, 11B) that calculates a travel history of the own vehicle on the basis of information obtained from a vehicle speed sensor, a yaw rate sensor (22, 22A, 22B), a steering angle sensor (21, 21A, 21B), and a navigation system (24, 24A, 24B); and a determination unit which is configured to determine whether a target vehicle, detected as the object existing behind the own vehicle, is at the inside or the outside of the stationary object, to determine the reliability of the detection result of the target vehicle, on the basis of a large/small relation transmitted from the relative position calculation unit (5, 5A, 5B) and by determining an influence of the stationary object with respect to the detection result of the target vehicle obtained by the rear object detection unit (7, 7A, 7B) and is further configured to transmit the determination result to a control unit of the own vehicle.