HEAVY GOODS VEHICLE

A heavy goods vehicle includes a displacement calculator that calculates a displacement by multiplying an arc length per unit rotation angle of the outer circumference of a specified tire by the first physical quantity, a vehicle position estimator that estimates a vehicle position using the displacement, and a memory that stores a correlation between a second physical quantity corresponding to a loading weight and an arc length per predetermined rotation angle at the outer circumference of the specified tire. The displacement calculator refers to the correlation to calculate a current arc length per unit rotation angle at the outer circumference of the specified tire from the second physical quantity corresponding to the loading weight, and calculates the displacement by multiplying the first physical quantity detected by the rotation amount detector by the current arc length per unit rotation angle.