A position lighting device is configured to be installed on a vehicle and configured to radiate a beam such that people outside the vehicle can recognize the vehicle. A lighting unit is configured to radiate a beam to a ceiling part or a side wall part of a tunnel-like structure which has at least a floor part, the ceiling part, and the side wall part. A position recognizing unit is configured to recognize that the vehicle is positioned in the tunnel-like structure. A radiation control unit is configured to control the lighting unit to radiate the beam if the position recognizing unit recognizes that the vehicle is positioned in the tunnel-like structure.