1. An object sensing device, comprising: an image capture unit that captures surroundings of a host vehicle; and at least one processor that executes a sensing process of an object to be sensed from an image captured by the image capture unit to: analyze a travel scene of the host vehicle; change a sensing process priority of the object to be sensed based on the travel scene analyzed by the scene analysis unit; sense the object to be sensed based on the changed sensing process priority, calculate an existence probability of the object to be sensed based on map information and the analyzed travel scene using pre-stored learned data in which travel scene types, place attributes, and existence probability values are associated.