1. An object recognition device comprising: a radar that detects a radar-detected object in a vicinity of a vehicle and outputs detection signals; a camera that detects a camera-detected object by capturing an image of the vicinity of the vehicle and outputs image data; and a processor configured to recognize the radar-detected object from the detection signals and the camera-detected object from the image data, wherein the processor is configured to recognize that the radar-detected object and the camera-detected object are a same actual object when the the radar-detected object and the camera-detected object are present within a predetermined position range, wherein the processor is configured to determine whether the the radar-detected object and the camera-detected object are the same actual object by reducing the predetermined position range when detection using the radar or the camera is interrupted and then detection is started again.