1. A target detecting device mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising: a radar sensor that transmits radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receives reflected waves from the target; an imaging sensor that captures an image of an area around the reference vehicle; and an electronic control unit, the electronic control unit being configured to: detect a target using information acquired by the radar sensor; select a target that satisfies a predetermined condition, among targets detected by the radar sensor; output information on a selected target; detect a stopped vehicle present around the reference vehicle; detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target; perform the image recognition more than once, and if an identical target is recognized more than a predetermined number of times, specify the recognized image as containing an object to be detected; and make, when the stopped vehicle is detected, criteria for detecting a pedestrian in at least an area of the image that overlaps the stopped vehicle from the perspective of the reference vehicle less restrictive, by reducing the predetermined number of times, compared to an instance in which a stopped vehicle is not detected.