Vehicle control method and vehicle warning method

A vehicle lane position estimation device for capturing a preceding vehicle or a target by searching forward of an host vehicle and estimating vehicle lane position thereof, said vehicle lane position estimation device comprising

• means for measuring a distance TR between said host vehicle and said preceding vehicle or said target, a direction angle from said host vehicle, an angular velocity Ws and a velocity Vs of said host vehicle,
• one vehicle lane sensing means for obtaining a lane Ly of a road,
• means for calculating a lateral displacement TC between said host vehicle and said preceding vehicle or said target, a longitudinal displacement TD therebetween and a curvature radius R of said host vehicle based on a following equation
• TC=TR sin α, TP cos α, R=Vs/Ws,
• a means for calculating lateral distance ΔR between said host vehicle and said preceding vehicle or said target based on a following equation,
• means for comparing Ly/2 with ΔR, and
• means for judging said preceding vehicle or said target to be in a vehicle lane of said host vehicle when |ΔR|<Ly/2
• further comprising
• means for judging whether a curve of said road is a transition curve section where a curvature radius thereof changes every moment sometimes, or a maximum curve section where said curvature radius does not changes, and
• means for correcting a curvature radius Rs of said host vehicle used for correcting said curvature radius Rf of said preceding vehicle to be smaller than a predetermined value when a transition curve is in an introduction part of the curve, and for correcting said curvature radius Rs to be larger than said predetermined value when said transition curve is in an rear part of the curve.