| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle position estimation device configured to prevent variability of estimated vehicle current position when a landmark is switched, and a vehicle position estimation method.SOLUTION: A controller detects positions of a plurality of landmarks with respect to a vehicle, on the basis of distance and direction of the landmarks with respect to the vehicle. Current position of the vehicle is estimated, on the basis of a result of collating the positions of at least a pair of landmarks out of the detected landmarks with a position of a landmark on a map. The controller selects a pair of landmarks, on the basis of an angle (relative angle) formed by straight lines extended from the vehicle to each of the two landmarks, and a distance (relative distance) between the landmarks along a vehicle traveling direction. |
