Map creation/self-location estimation device

Abstract

An object is to provide a map creation/self-location estimation device capable of estimating a location/attitude of an ego vehicle with high accuracy. The map creation/self-location estimation device includes a map creation unitthat creates, from an output of a sensor, a map including a travelling location of an ego vehicle and a point group, a required accuracy determination unitthat determines location/attitude estimation accuracy (required accuracy) required for self-location estimation in the next travelling, from the output of the sensor and the map created by the map creation unit, a data selection unitthat selects a point group included in the map from the map created by the map creation unitand the required accuracy determined by the required accuracy determination unit, a map recording unitthat records, as a record map, a selection map including the point group selected by the data selection unit, the travelling location, and the required accuracy, and a self-location estimation unitthat estimates the current location/attitude of a vehicle on the record map by associating the record map recorded in the map recording unitwith a current map including the point group selected by the data selection unitand the travelling location of the ego vehicle.