Home position estimation system and home position estimation method

A home position estimation system for estimating a position of a hybrid vehicle comprising an internal combustion engine, an electric motor, and a battery, comprising:

• a GNSS receiver;
• an object detection device for detecting an object in surroundings of the hybrid vehicle;
• and
• a processor configured to identify the object detected by the object detection device, and estimate a position of the hybrid vehicle based on an output of the GNSS receiver, wherein
• if a predetermined condition is satisfied and the identified object is an object indicating a boundary of a low emission zone which requires that the internal combustion engine be stopped, the processor is configured to judge whether the hybrid vehicle is located within the low emission zone, regardless of the output of the GNSS receiver, based on a result of identification of the object detected by the object detection device.