A self-position estimation device includes a peripheral object information acquisition unit acquiring peripheral object information, a storage unit storing map information and dynamic object information, a dynamic object determination unit, and a self-position estimation unit. The dynamic object information includes fixed portion information and movable portion information. The dynamic object determination unit determines whether or not the dynamic object exists around the moving body by collating the peripheral object information with the fixed portion information, when the dynamic object determination unit determines that the dynamic object exists around the moving body, the self-position estimation unit estimates the position of the moving body in the map information by excluding the portion corresponding to the dynamic object from the peripheral object information and collating the map information with the peripheral object information.