1. A driving assist device that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus comprising: an object detecting unit that detects the object in the vicinity of the moving body; a three dimensional object detecting unit that detects a three dimensional object in the vicinity of the moving body; a first storage unit that stores the position of the object detected by the object detecting unit; a second storage unit that stores the position of a three dimensional object detected by the three dimensional object detecting unit; and an object recognition unit that recognizes the object at a predetermined detection position as a non-obstacle when the first storage unit stores the position of the object, and the second storage unit does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit and the three dimensional object detecting unit.