VEHICLE POSITION ESTIMATION DEVICE

A vehicle position estimation device includes an external information acquisition unit, a vehicle parameter acquisition unit, a map data acquisition unit, a lane change determination unit, and a position estimation unit. The external information acquisition unit acquires external information. The vehicle parameter acquisition unit acquires a vehicle parameter related to traveling. The map data acquisition unit acquires map data. The lane change determination unit determines whether the vehicle is changing lanes. The position estimation unit estimates a self-position of the vehicle on a map. When the lane change determination unit determines that the vehicle is changing lanes, the position estimation unit estimates the self-position using dead reckoning. When the lane change determination unit determines that the vehicle is not changing lanes, the position estimation unit estimates the self-position based on the external information and the map data.