A position estimation method for estimating a position of a mobile terminal includes: an acquisition step of acquiring distance values and radio wave intensity values between a plurality of communication devices provided in a vehicle and the mobile terminal by communicating the communication devices with the mobile terminal; a communication availability determination step of determining that a corresponding communication device is communicable when the distance value is equal to or less than a first predetermined value and the intensity value is equal to or more than a second predetermined value; and an estimation step of narrowing down a search range of the mobile terminal based on a distance value from the communication device having the smallest distance value of at least three of communication devices determined to be communicable in the communication availability determination step, and estimating the position of the mobile terminal.