A vehicle recognition device includes a vehicle recognizer and a wiper controller. The vehicle recognizer is configured to determine, upon a first state, whether a transition is made from the first state to a second state. The first state is a state in which a second vehicle is recognizable from captured images obtained from respective cameras provided in a first vehicle. The second state is a state in which the second vehicle is unrecognizable from one or more of the captured images. The one or more of the captured images is obtained from all or a part of the cameras. The wiper controller is configured to automatically control an operation of a wiper of the first vehicle on the basis of an automatic control, when the vehicle recognizer determines that the transition is made from the first state to the second state.