US Patent 11300415 Host vehicle position estimation device

A host vehicle position estimation device includes a target recognition unit configured to recognize a relative position of the vertical position target relative to a host vehicle on the basis of a detection result of an external sensor of the host vehicle, an amount-of-position error calculation unit configured to calculate an amount of position error, an amount-of-steady error calculation unit configured to calculate an amount of steady error from a distribution of the amount of position error when it is determined that the distribution of the amount of position error satisfies a steady condition, and a host vehicle position estimation unit configured to perform estimation of a vertical position of the host vehicle using the amount of steady error when the relative position of the vertical position target relative to the host vehicle is not recognized.