VEHICLE POSITION ESTIMATION DEVICE AND TRAVELING CONTROL DEVICE

A vehicle position estimation device includes a control unit configured to: specify a vehicle position on a map based on (i) position information of a landmark detected based on an image frame captured by a front camera and (ii) position information of the landmark registered in the map; determine whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle. The control unit changes a content of process corresponding to a determination result of adverse environment.