IN-VEHICLE PROCESSING APPARATUS

The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus according to the present invention includes a mode switching unit D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode to acquire and store point group data in a storage unit when a vehicle approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit and a position estimation mode to have a position estimation unit C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.