Abstract: An overhead structure determination device mounted in a vehicle includes a sensor, a target information acquisition device, a road surface height acquisition device, and a determination device. The target information acquisition device detects a target in front of the vehicle using the sensor and acquires a relative position and a relative height of the target with respect to the vehicle. The road surface height acquisition device acquires a relative height of a below-target road surface with respect to the vehicle as a road surface height. The below-target road surface is a road surface at the relative position of the target. When a difference between the relative height of the target and the road surface height exceeds a threshold, the determination device determines that the target is an overhead structure present above a height of the vehicle.