Self-location estimation method

A self-location estimation method for a moving body, comprising:

• a first step of estimating a self-location of a moving body from detection information of a plurality of sensors by each of a plurality of algorithms using the detection information of one or more sensors among the plurality of sensors;
• a second step of determining a weighting factor for each of the plurality of algorithms by inputting, to a trained neural network, one or more state quantities which are obtained for each of the plurality of algorithms by estimation processing of each algorithm and which are state quantities associated with certainty of the self-location estimated by each algorithm, and then determining the weighting factor for each of the plurality of algorithms by the neural network based on the input state quantities;
• and
• a third step of identifying, as a self-location of the moving body, a location obtained by synthesizing the self-locations estimated by each of the plurality of algorithms by using the determined weighting factors.