MAP GENERATION APPARATUS

A map generation apparatus includes: an in-vehicle detection unit configured to detect a situation around a subject vehicle in traveling; and a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform: extracting one or more feature points from a detection data acquired by the in-vehicle detection unit; generating a map using the feature points extracted in the extracting while the subject vehicle is traveling; collating the feature points extracted in the extracting with the map to recognize a position of the subject vehicle on the map when the subject vehicle travels in a region corresponding to the map; and deleting, from the map, a feature point whose result of collation in the recognizing is less than a predetermined degree among the feature points included in the map.