To appropriately generate a map that is hardly affected by environmental changes.SOLUTION: A map generation device comprises: an extraction unit 171 that extracts feature points from detection information detected by an onboard detector 1a that detects the surrounding state of the host vehicle; a selection unit 172 that selects the feature point from a plurality of feature points extracted by the extraction unit 171, that is used for calculation by a calculation unit 173; the calculation unit 173 that calculates, for each of a plurality of different feature points selected by the selection unit 172, the three-dimensional position of the same feature point included in a plurality of pieces of detection information, on the basis of the plurality of pieces of detection information, and using the position and attitude of the onboard detector 1a; and a generation unit 174 that generates a map that includes information regarding each three-dimensional position, using the three-dimensional position of the plurality of different feature points calculated by the calculation unit 173. The selection unit 172 selects a feature point on an object whose set priority is high among a plurality of objects included in detection information, on the basis of priority information that is set for each of a plurality of objects in advance.SELECTED DRAWING: Figure 2

【課題】環境変化の影響を受けにくい地図を適切に生成すること。【解決手段】地図生成装置は、自車両の周囲の状況を検出する車載検出器１ａで検出された検出情報から特徴点を抽出する抽出部１７１と、抽出部１７１で抽出された複数の特徴点から算出部１７３で算出に用いる特徴点を選択する選択部１７２と、複数の検出情報に基づいて、車載検出器１ａの位置および姿勢を用いて、複数の検出情報に含まれる同一の特徴点の３次元位置を、選択部１７２で選択された複数の異なる特徴点に対してそれぞれ算出する算出部１７３と、算出部１７３で算出された複数の異なる特徴点の３次元位置を用いて、各３次元位置の情報を含む地図を生成する生成部１７４と、を備え、選択部１７２は、あらかじめ複数の物体毎に設定されている優先度情報に基づき、検出情報に含まれた複数の物体のうち優先度が高く設定されている物体上の特徴点を選択する。【選択図】図２