VEHICLE POSITION ESTIMATING DEVICE AND VEHICLE POSITION ESTIMATING METHOD

To provide a vehicle position estimating device which can estimate a precise position of a vehicle in an environment in which the upper part of a vehicle is covered by a closing material.SOLUTION: The vehicle position estimating device includes: a vehicle position acquisition unit for acquiring a vehicle position, which is the position of a running vehicle, as a primary vehicle position; and a vehicle position estimating unit for estimating a secondary vehicle position, which is a more specific position than the primary vehicle position, by matching the three-dimensional data of a closing object for the primary vehicle position, which is included in a three-dimensional structure database storing the three-dimensional data of the closing object covering the upper region of the region where the vehicle can run against the shape data of the closing object covering the upper part of the vehicle measured in the primary vehicle position.SELECTED DRAWING: Figure 1 【課題】車両の上方が閉塞物で覆われている環境において、車両位置を精度よく推定することができる車両位置推定装置の提供を目的とする。【解決手段】車両位置推定装置は、車両が走行している位置である車両位置を１次車両位置として取得する車両位置取得部と、車両が走行可能な領域の上方を覆う閉塞物の３次元形状データが格納された３次元構造物データベースに含まれ、かつ、１次車両位置に対応する閉塞物の３次元形状データと、１次車両位置において実測された車両の上方を覆う閉塞物の形状データと、を照合し、１次車両位置よりも詳細な２次車両位置を推定する車両位置推定部と、を含む。【選択図】図１