A vehicle position estimation device comprising: a target position detection unit configured to detect a position of a target present in a periphery of a vehicle ; a movement amount detection unit configured to detect an amount of movement of the vehicle ; a target position storage unit configured to store positions of the target detected by the target position detection unit as target position data, based on amounts of movements detected by the movement amount detection unit ; a map information acquisition unit configured to acquire map information including positions of the target; an adjustment range setting unit configured to group a portion of the target position data stored in the target position storage unit into a group according to turning states of the vehicle ; and a vehicle position estimation unit configured to estimate a vehicle position of the vehicle ; characterized in that the adjustment range setting unit is further configured to set an adjustment range for the group based on amounts of movements of the vehicle when the target position data are detected, and the vehicle position estimation unit is configured to estimate the vehicle position of the vehicle by matching the target position data stored in the target position storage unit with positions of the target in the map information acquired by the map information acquisition unit based on the adjustment range set by the adjustment range setting unit , wherein the adjustment range is defined as an amount of movement allowable in positionally and angularly adjusting the grouped target position data for the group as a whole in the matching process. a target position detection unit configured to detect a position of a target present in a periphery of a vehicle ; a movement amount detection unit configured to detect an amount of movement of the vehicle ; a target position storage unit configured to store positions of the target detected by the target position detection unit as target position data, based on amounts of movements detected by the movement amount detection unit ; a map information acquisition unit configured to acquire map information including positions of the target; an adjustment range setting unit configured to group a portion of the target position data stored in the target position storage unit into a group according to turning states of the vehicle ; and a vehicle position estimation unit configured to estimate a vehicle position of the vehicle ; characterized in that the adjustment range setting unit is further configured to set an adjustment range for the group based on amounts of movements of the vehicle when the target position data are detected, and the vehicle position estimation unit is configured to estimate the vehicle position of the vehicle by matching the target position data stored in the target position storage unit with positions of the target in the map information acquired by the map information acquisition unit based on the adjustment range set by the adjustment range setting unit , wherein the adjustment range is defined as an amount of movement allowable in positionally and angularly adjusting the grouped target position data for the group as a whole in the matching process. <EOS>