OVERHEAD-STRUCTURE RECOGNITION DEVICE

In an overhead-structure recognition device to be mounted to a vehicle, a determination unit is configured to, in response to there being, among specific pieces of range point data each having a direction variable indicating a predefined direction, a predefined number or more of pieces of range point data each having a distance variable taking a plurality of values, determine that an object of interest corresponding to a subset of interest of pieces of range point data is an overhead structure. The predefined direction is a direction such that a horizontal angle difference from a direction indicated by the direction variable of the piece of range point data corresponding to the object of interest is within a predefined angle range and an angle with respect to a vertical direction is greater than an angle between the vertical direction and a direction of travel of the vehicle.