MAP GENERATION DEVICE

To efficiently generate a map while the own vehicle is traveling.SOLUTION: A map generation device 50 includes: a vehicle recognition part 173 for recognizing the other vehicle traveling on an opposite lane opposed to an own vehicle lane where an own vehicle is traveling; an information acquisition part 175 for acquiring information on an external situation around the other vehicle in a path matching section in which a travel route of the own vehicle and a travel route of the other vehicle coincide with each other among travel routes including the own vehicle lane and the opposite lane obtained by the other vehicle traveling on the opposite lane when the other vehicle is recognized by the vehicle recognition part 173; and a map generation part 17 for generating a map for the opposite lane in the path matching section based on the information acquired the information acquisition part 175.SELECTED DRAWING: Figure 3 【課題】自車両の走行時における地図生成を効率的に行う。【解決手段】地図生成装置５０は、自車両が走行する自車線に対向する、対向車線を走行する他車両を認識する車両認識部１７３と、車両認識部１７３により他車両が認識されると、対向車線を走行する他車両により得られた、自車線と対向車線とを含む走行経路のうちの自車両の走行経路と他車両の走行経路とが一致する経路一致区間における、他車両の周囲の外部状況の情報を取得する情報取得部１７５と、情報取得部１７５により取得された情報に基づいて、経路一致区間における対向車線についての地図を生成する地図生成部１７と、を備える。【選択図】図３