The Type 87 RCV (Reconnaissance Combat Vehicle) is a reconnaissance and patrol 6 x 6 that is based on the earlier Type 82 command and communications vehicle. Built by Komatsu, rather than Mitsubishi, it features a redesigned hull that provides protection from small arms and shrapnel but otherwise shares the same automotive components as the Type 82 including the same Isuzu engine, coil spring suspension and transmission. The Type 87 is easily distinguished by its two-man turret, which is located at the center of the hull and has a 25-mm Oerlikon Contraves KBA autocannon (license-built in Japan) with a co-axial machine gun, giving it some degree of firepower against potential threats. Another physical difference with the Type 82 is the flat rear hull, in contrast with the raised hull which housed the latter's crew compartment and communications equipment. Despite these difference, both vehicles share nearly identical performance characteristics. Both Type 82 and Type 87s are in widespread service with the JGSDF, being the main vehicles of their type, and the only major wheeled AFVs aside from the Type 96.

A requirement for a reconnaissance vehicle led to two prototypes, a 4 x 4 proposal from Komatsu and a 6 x 6 design by Mitsubishi which was selected. Development then focused on two separate roles, first as a command and communications vehicle which was to be the Type 82 built by Mitsubishi and a reconnaissance vehicle that became the Type 87, built by Komatsu. Around 80% of components are shared between the two.