US Patent 11525682 Host vehicle position estimation device

A host vehicle position estimation device includes an observation position estimation unit configured to estimate an observation position of the vehicle based on a result of recognition of the target object performed, a prediction position calculation unit configured to calculate a prediction position of the vehicle from a result of estimation of the host vehicle position in the past based on a result of measurement performed by an internal sensor, a host vehicle position estimation unit configured to estimate the host vehicle position based on the observation position and the prediction position. The host vehicle position estimation unit is configured to give more weighting to the prediction position in the estimation of the host vehicle position such that the host vehicle position is estimated to be close to the prediction position if it is determined that a result of estimation of the host vehicle position is unsteady.