A preceding vehicle recognition apparatus detects positions of two reflectors provided on a preceding vehicle from individual received signals each representing a signal reflected by the reflectors. The apparatus further detects position of an area of rear face of the preceding vehicle by integrating a plurality of received signals each representing a signal reflected by the body of the preceding vehicle. Thus, even when only one of the two reflectors is detected or both reflectors cannot be detected, the width of the preceding vehicle can be found. By using the width of the preceding vehicle, it is possible to keep track of the movement of the same preceding vehicle with a high degree of reliability.