VEHICLE CONTROL DEVICE AND HOST VEHICLE POSITION ESTIMATION METHOD

An object of the present invention is to provide a vehicle control device and a host vehicle position estimation method capable of appropriately learning a correction amount of a host vehicle position estimated based on a global navigation satellite system (GNSS) according to an environmental change. Therefore, a host vehicle position estimation unit of the vehicle control device according to the present invention includes: an absolute position estimation unit that estimates a first vehicle position based on absolute position information acquired from a GNSS; a relative position estimation unit that estimates a second vehicle position based on relative position information acquired from an outside of the host vehicle; a traveling state determination unit that determines a change of a traveling state of the host vehicle based on vehicle information or satellite information; a difference computation unit that computes an amount of a difference between the first vehicle position and the second vehicle position in a state where time synchronization is performed; a learning unit that accumulates the amount of the difference as time-series data for each traveling state and learns a correction amount of the first vehicle position for each traveling state based on the accumulated time-series data; and a position correction unit that corrects the first vehicle position based on the correction amount calculated by the learning unit.