Vehicle control method and vehicle warning method

摘要

In order to occur a collision warning to prevent the collision in accurate by detecting the preceding vehicle (3) or target, a vehicle lane position estimation device comprising a means for measuring a distance between said host vehicle (2) and said preceding vehicle (3) or a oncoming vehicle, a direction angle from said host vehicle (2), an angular velocity and a velocity of said host vehicle (2), a means for calculating lateral and longitudinal distance between said host vehicle (2) and said preceding vehicle (3) or said oncoming vehicle, a means for capturing a front stationary object, a means for obtaining movement of the preceding vehicle (3) or position of the oncoming vehicle, and a means to estimate a lane position of said front stationary object from a relationship of the stationary object being captured and the preceding vehicle (3) being obtained and a positional relationship with the oncoming vehicle.