To improve reliability in recognizing a three-dimensional environment of a periphery by using a plurality of mutually different recognition techniques in regard to a peripheral recognition device.

One from a first recognition technique for recognizing an object from both image data of pairs of cameras 14 to 28 with mutually overlapping visually confirmable areas, a second recognition technique for recognizing an object from both image data before and after moving of single cameras 14 to 28, or a third recognition technique for modeling a known object and recognizing the object from a three dimensional position of a model by presumably moving a position of the model in accordance with time series positional data is used as a technique for recognizing an object by an image recognition part 32 of an ECU 12. The recognition technique to be used by the image recognition part 32 is switched between the first, second and third recognition techniques in accordance with capability of object recognition from image data by the cameras 14 to 28, an existence of an accuracy request of the object recognition, and normality/anomaly of a driving mechanism 52 of the cameras 14 to 28.