Map creation/self-location estimation device

A map creation/self-location estimation device comprising:

• a memory having a program stored therein that, when executed by a processor, causes the processor to:
• in a map creation mode,
• create a map including a travelling location of a vehicle and a point group from pieces of information acquired by a plurality of sensors having different characteristics, the point group being a measurement result of a surrounding object of the vehicle;
• determine required accuracy of location estimation of the vehicle at a predetermined point of the travelling location of the vehicle based on the pieces of information acquired by the plurality of sensors and the map;
• select, in accordance with the required accuracy and from the map, a subset of the point group in the map corresponding to a type of one or more sensors, among the plurality of sensors, that have measured the point group to create a selection map;
• and
• record, as a record map, the selection map including the required accuracy;
• and
• in a location estimation mode,
• create a current map including a travelling location of the vehicle and a point group from pieces of information acquired by the plurality of sensors having the different characteristics;
• select, in accordance with the recorded required accuracy and from the current map, a subset of the point group in the current map corresponding to a type of one or more sensors among the plurality of sensors, that have measured the point group to create a current selection map;
• and
• estimate a current location of the vehicle in the record map by comparing the record map with the current selection map,
• wherein the processor is configured to select the subset of the point group in the map and in the current map by:
• selecting (i) only point group acquired by one or more first sensors having high location measurement accuracy at a traveling location having a high required accuracy, and (ii) both the point group acquired by the one or more first sensors and point group acquired by one or more second sensors having low location measurement accuracy at a traveling location having a low required accuracy.