The present invention inhibits false recognition of a non-vehicle as a vehicle. The present invention is provided with: a vehicle body 1a which travels on wheels; an outside environment recognition device 2 which detects an obstacle in front of the vehicle body 1a; and an obstacle discrimination device 5 which classifies a candidate obstacle detected by the outside environment recognition device 2, into an obstacle and a non-obstacle, and outputs, as the obstacle, the candidate obstacle classified into the obstacle. The obstacle discrimination device 5 comprises: a travel state determination unit 51 which determines whether the candidate obstacle is a moving object or a stationary object; a distance filtering unit 52 which compares the distance of the stationary object initially detected with a distance threshold value; and a reflection intensity filtering unit 53 which calculates statistical information based on reflection intensity information of the obstacle and classifies the candidate obstacle on the bas
