POSITION ESTIMATION DEVICE, AUTOMATED DRIVING SYSTEM, POSITION ESTIMATION METHOD, AND STORAGE MEDIUM STORING PROGRAM

A position estimation device includes: a weight determination unit to determine weights to be set to first yaw information of a vehicle A based on an angular velocity of the vehicle A, second yaw information of the vehicle A based on movement distances of left and right wheels of the vehicle A, and third yaw information of the vehicle A based on a steering angle and a vehicle speed of the vehicle A; a yaw information acquiring unit to acquire the first to third yaw information; a combining unit to generate combined yaw information by combining the first to third yaw information, to which the determined weights have been set; and a position estimation unit to estimate a position of the vehicle A using positioning information of the vehicle A, the vehicle speed of the vehicle A, and the combined yaw information.