1. A method for lane boundary estimation and host vehicle position and orientation estimation, said method comprising: a global positioning system transmitting position of one or more vehicles to a path history module; said path history module generating history of coordinates of said one or more vehicles; a lane boundary estimation module generating statistical distribution curves representing said history of coordinates of said one or more vehicles in each of two coordinates in two-dimensional plane; a clustering module generating clusters based on said statistical distribution curves representing said history of coordinates of said one or more vehicles; a lane determination module setting width and position of each one or more lanes lane in said road based on said clusters; a processor combining results of said width and said position of each lane the one or more lanes in said road, to get an overall width and position of all of the one or more lanes in said road; and estimating host vehicle position parameter and heading parameter with respect to one of the one or more lanes lane of a said road, comprising: wherein said host vehicle heading parameter is an angle with respect to said road's direction; setting differential of a first distance with respect to time equal to sine function of said host vehicle heading parameter times speed of the host vehicle; wherein said first distance is a distance from middle of a host lane, corresponding to said host vehicle; setting differential of said host vehicle heading parameter with respect to time equal to a curvature of said road minus product of said speed of said host vehicle times rate of yaw for said host vehicle's angular velocity, with respect to vertical axis; setting differential of said curvature of said road with respect to time equal to zero.