Host vehicle position estimation device

A host vehicle position estimation device that estimates a host vehicle position which is a position of a host vehicle on a map based on a detected position of a target object detected by an external sensor mounted on the host vehicle and information on the position of the target object on the map, the device comprising:

• a detected position recognition unit configured to recognize a detected position of a first target object which is the target object included in a first recognition range set in advance around the host vehicle and a detected position of a second target object which is the target object included in a second recognition range that does not overlap with the first recognition range around the host vehicle, based on a result of detection performed by the external sensor;
• a host vehicle first position estimation unit configured to estimate a host vehicle first position based on the detected position of the first target object and the information on the position of the first target object on the map;
• a host vehicle second position estimation unit configured to estimate a host vehicle second position based on the detected position of the second target object and the information on the position of the second target object on the map;
• and
• a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.