SELF-LOCATION ESTIMATION METHOD AND SELF-LOCATION ESTIMATION DEVICE

A self-location estimation method including: detecting a traffic sign in a vicinity of a vehicle (S12); determining a current location of the vehicle (S11); acquiring height information of the detected traffic sign from map data in which two-dimensional coordinate information and height information of a traffic sign existing in a vicinity of a road are recorded, based on a relative location of the detected traffic sign with respect to the vehicle and the current location; and estimating a height at which the vehicle is present according to the height information acquired from the map data (S13-S15).