An output device comprising: a collation unit (15, 17) configured to collate a position (Zt) of a road marking based on a detection result by a detection device with the position (Z^ t) of the road marking according to map information, the detection device detecting an object by emitting a light and receiving the light reflected at the object; a position estimation unit (15, 17) configured to estimate a position of a moving body based on a result of the collation; an autonomous driving control unit configured to determine whether or not the accuracy of the estimated current position is lower than a predetermined value, wherein, only when the accuracy of the estimated current position is lower than the predetermined value, the autonomous driving control unit is configured to acquire, from a map database, road marking information including detection accuracy information (Idet) indicating an accuracy of the collation with respect to each road marking associated with road data of one or a plurality of roads which constitute the route to a destination, determine whether the detection accuracy information indicates a road marking whose detection accuracy is lower than a threshold on the same lane as a target track of the moving body, and output control information for modifying the target track to get away from the road marking, wherein the autonomous driving control unit is adapted to search, on the basis of the detection accuracy information (Idet) and suitable direction information (Sdi) included in the road marking information, for a second road marking suitable as a reference of the own vehicle position estimation in the traveling direction or the lateral direction whichever error is larger, in a case that the error of the estimated position in the travelling direction or the lateral direction is larger than a threshold, and to correct the target track of the vehicle to approach the second road marking. a collation unit (15, 17) configured to collate a position (Zt) of a road marking based on a detection result by a detection device with the position (Z^ t) of the road marking according to map information, the detection device detecting an object by emitting a light and receiving the light reflected at the object; a position estimation unit (15, 17) configured to estimate a position of a moving body based on a result of the collation; an autonomous driving control unit configured to determine whether or not the accuracy of the estimated current position is lower than a predetermined value, wherein, only when the accuracy of the estimated current position is lower than the predetermined value, the autonomous driving control unit is configured to acquire, from a map database, road marking information including detection accuracy information (Idet) indicating an accuracy of the collation with respect to each road marking associated with road data of one or a plurality of roads which constitute the route to a destination, determine whether the detection accuracy information indicates a road marking whose detection accuracy is lower than a threshold on the same lane as a target track of the moving body, and output control information for modifying the target track to get away from the road marking, wherein the autonomous driving control unit is adapted to search, on the basis of the detection accuracy information (Idet) and suitable direction information (Sdi) included in the road marking information, for a second road marking suitable as a reference of the own vehicle position estimation in the traveling direction or the lateral direction whichever error is larger, in a case that the error of the estimated position in the travelling direction or the lateral direction is larger than a threshold, and to correct the target track of the vehicle to approach the second road marking. acquire, from a map database, road marking information including detection accuracy information (Idet) indicating an accuracy of the collation with respect to each road marking associated with road data of one or a plurality of roads which constitute the route to a destination, determine whether the detection accuracy information indicates a road marking whose detection accuracy is lower than a threshold on the same lane as a target track of the moving body, and output control information for modifying the target track to get away from the road marking, wherein the autonomous driving control unit is adapted to search, on the basis of the detection accuracy information (Idet) and suitable direction information (Sdi) included in the road marking information, for a second road marking suitable as a reference of the own vehicle position estimation in the traveling direction or the lateral direction whichever error is larger, in a case that the error of the estimated position in the travelling direction or the lateral direction is larger than a threshold, and to correct the target track of the vehicle to approach the second road marking.