A vehicle position estimation device comprising: a target position detection unit configured to detect a position (Pc, Pw) of a target present in a periphery of a vehicle as relative position with respect to the vehicle a movement amount detection unit configured to detect an amount of movement of the vehicle (L23, L24); a target position storage unit configured to store positions (Pc, Pw) of a target detected by the target position detection unit as target position data, based on amounts of movements (L23, L24) detected by the movement amount detection unit; a map information acquisition unit configured to acquire map information including positions of the target in a map coordinate system; and a vehicle position estimation unit configured to, by matching the target position data stored in the target position storage unit with positions of a target in the map information acquired by the map information acquisition unit, estimate a vehicle position of the vehicle in the map coordinate system; characterized by a turning point detection unit configured to detect a turning point of the vehicle from the amounts of movements (L23, L24) of the vehicle based on changes in a traveling direction of a vehicle, wherein the target position storage unit being configured to retain at least the target position data in a range going back from a present location (Pn) by a predetermined first set distance to a first point (Pn-D1) and the target position data in a range going back from the turning point by a predetermined second set distance to a second point (Pt1-D2) and delete or thin out target position data in a range from the first point (Pn-D1) to the turning point. a target position detection unit configured to detect a position (Pc, Pw) of a target present in a periphery of a vehicle as relative position with respect to the vehicle a movement amount detection unit configured to detect an amount of movement of the vehicle (L23, L24); a target position storage unit configured to store positions (Pc, Pw) of a target detected by the target position detection unit as target position data, based on amounts of movements (L23, L24) detected by the movement amount detection unit; a map information acquisition unit configured to acquire map information including positions of the target in a map coordinate system; and a vehicle position estimation unit configured to, by matching the target position data stored in the target position storage unit with positions of a target in the map information acquired by the map information acquisition unit, estimate a vehicle position of the vehicle in the map coordinate system; characterized by a turning point detection unit configured to detect a turning point of the vehicle from the amounts of movements (L23, L24) of the vehicle based on changes in a traveling direction of a vehicle, wherein the target position storage unit being configured to retain at least the target position data in a range going back from a present location (Pn) by a predetermined first set distance to a first point (Pn-D1) and the target position data in a range going back from the turning point by a predetermined second set distance to a second point (Pt1-D2) and delete or thin out target position data in a range from the first point (Pn-D1) to the turning point.