Vehicle position estimation device

A vehicle position estimation device mounted on a vehicle, comprising:

• an external information acquisition unit configured to acquire external information regarding objects and road markings around the vehicle;
• a vehicle parameter acquisition unit configured to acquire a vehicle parameter related to traveling of the vehicle;
• a satellite positioning acquisition unit configured to acquire a latitude and longitude of a position of the vehicle from a satellite positioning system;
• a map data acquisition unit configured to acquire map data including road information about lanes;
• and
• a position estimation unit configured to estimate a self-position of the vehicle on a map based on the external information, the vehicle parameter, the latitude and longitude, and the map data, wherein
• the position estimation unit includes:
• a reliability calculation unit configured to calculate a reliability of each lane based on the external information and the map data when the vehicle is traveling on a road having multiple lanes, the reliability of each lane indicating a probability of the vehicle being traveling in the lane among the lanes;
• and
• a lane estimation unit configured to estimate a lane in which the vehicle is located by using the reliability calculated by the reliability calculation unit.