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In automated driving, the states of the target vehicle which could be used to characterize the vehicle behaviors are usually required for the host vehicle control. However, some key states of target vehicle are difficult to measure directly and accurately in all driving situations. In addition to this, it is hard to get the accurate parameters of the target vehicle to establish vehicle dynamics-based method which is commonly adopted to estimate the vehicle states. To address these problems, this paper investigated a novel methodology for estimating the states of target vehicle using the information gathered by several host vehicle sensors such as the camera, light detection and ranging (LiDAR) and the radar. A vehicle kinematic model based on Serret-Frenet equation was constructed, which could be used to interpret the target vehicle lateral motion.