A vehicle localization device comprising: a target database that stores position information on a first target on a map and position information on a second target on the map; a target recognition unit configured to recognize, based on a detection result of an in-vehicle sensor of the vehicle, a relative position of the first target relative to the vehicle and a relative position of the second target relative to the vehicle; a lateral position estimation unit configured to estimate a lateral position of the vehicle and a direction of the vehicle based on the relative position of the first target relative to the vehicle and the position information on the first target on the map, the lateral position of the vehicle being a position of the vehicle on the map in a width direction of a traveling lane on which the vehicle travels; and a longitudinal position estimation unit configured to estimate a longitudinal position of the vehicle based on the relative position of the second target relative to the vehicle and the position information on the second target on the map, the relative position of the second target relative to the vehicle being corrected using the estimated lateral position of the vehicle and the estimated direction of the vehicle as a reference, the longitudinal position of the vehicle being a position of the vehicle on the map in an extending direction of the traveling lane; wherein: in the target database, the first target includes a straight marking line corresponding to a straight road section and the second target includes at least one curved marking line corresponding to a curve of a road, the target recognition unit is configured to recognize, based on the detection result of the in-vehicle sensor, a relative position of the straight marking line relative to the vehicle and a relative position of the at least one curved marking line relative to the vehicle, the lateral position estimation unit is configured to estimate, based on the relative position of the straight marking line relative to the vehicle and position information on the straight marking line on the map, the lateral position of the vehicle and the direction of the vehicle, and the longitudinal position estimation unit is configured to estimate the longitudinal position of the vehicle based on the relative position of the at least one curved marking line relative to the vehicle and position information on the at least one curved marking line on the map, the relative position of the at least one curved marking line relative to the vehicle being corrected using the lateral position of the vehicle and the direction of the vehicle as a reference. a target database that stores position information on a first target on a map and position information on a second target on the map; a target recognition unit configured to recognize, based on a detection result of an in-vehicle sensor of the vehicle, a relative position of the first target relative to the vehicle and a relative position of the second target relative to the vehicle; a lateral position estimation unit configured to estimate a lateral position of the vehicle and a direction of the vehicle based on the relative position of the first target relative to the vehicle and the position information on the first target on the map, the lateral position of the vehicle being a position of the vehicle on the map in a width direction of a traveling lane on which the vehicle travels; and a longitudinal position estimation unit configured to estimate a longitudinal position of the vehicle based on the relative position of the second target relative to the vehicle and the position information on the second target on the map, the relative position of the second target relative to the vehicle being corrected using the estimated lateral position of the vehicle and the estimated direction of the vehicle as a reference, the longitudinal position of the vehicle being a position of the vehicle on the map in an extending direction of the traveling lane; in the target database, the first target includes a straight marking line corresponding to a straight road section and the second target includes at least one curved marking line corresponding to a curve of a road, the target recognition unit is configured to recognize, based on the detection result of the in-vehicle sensor, a relative position of the straight marking line relative to the vehicle and a relative position of the at least one curved marking line relative to the vehicle, the lateral position estimation unit is configured to estimate, based on the relative position of the straight marking line relative to the vehicle and position information on the straight marking line on the map, the lateral position of the vehicle and the direction of the vehicle, and the longitudinal position estimation unit is configured to estimate the longitudinal position of the vehicle based on the relative position of the at least one curved marking line relative to the vehicle and position information on the at least one curved marking line on the map, the relative position of the at least one curved marking line relative to the vehicle being corrected using the lateral position of the vehicle and the direction of the vehicle as a reference.