Position estimation device and position estimation method

A position estimation device installed in each of a plurality of moving bodies, comprising:

• a processor to execute a program;
• and
• a memory to store the program which, when executed by the processor, performs processes of,
• estimating a position of a subject moving body being the moving body in which the position estimation device is installed as an estimated position using any of positioning means of satellite positioning using a positioning satellite or radio wave positioning using wireless communication with a cellular base station,
• switching the positioning means for estimation of the position of the subject moving body based on a traveling environment or a peripheral environment of the subject moving body,
• correcting the estimated position of the subject moving body in accordance with an estimation accuracy,
• performing transmission/reception of the estimated position of the subject moving body and sensing information by a peripheral monitoring sensor installed in the subject moving body between the position estimation device installed in a peripheral moving body being the moving body traveling around the subject moving body,
• when an estimation accuracy of the estimated position of the peripheral moving body is higher than the estimation accuracy of the estimated position of the subject moving body, selecting, as a position correction method, from at least any of the sensing information of the peripheral moving body or radio wave positioning of the subject moving body by wireless communication with the peripheral moving body based on the position accuracy of the sensing information of the peripheral moving body and the position accuracy of the radio wave positioning of the subject moving body by wireless communication with the peripheral moving body, calculating a relative distance and a relative angle between the subject moving body and the peripheral moving body based on the selected position correction method, and correcting the estimated position of the subject moving body based on the estimated position of the peripheral moving body, the relative distance, and the relative angle, and
• when the estimation accuracy of the estimated position of the subject moving body is higher than an estimation accuracy of the estimated position of the peripheral moving body, selecting, as a position correction method, from at least any of the sensing information of the subject moving body or radio wave positioning of the subject moving body by wireless communication with the peripheral moving body based on a position accuracy of the sensing information of the subject moving body and a position accuracy of the radio wave positioning of the subject moving body by wireless communication with the peripheral moving body, calculating a relative distance and a relative angle between the subject moving body and the peripheral moving body based on the selected position correction method, and correcting the estimated position of the peripheral moving body based on the estimated position of the subject moving body, the relative distance, and the relative angle.