Lane Change Classification of a Vehicle

A method for lane change classification of a vehicle has the steps of: acquiring sensor data representing a movement of a vehicle on a traffic lane over a predetermined time period; determining, based on the sensor data, a lateral velocity of the vehicle and a lateral distance of the vehicle relative to a boundary of the traffic lane; and assigning the movement of the vehicle to a lane changing class or a lane keeping class based on a classification function. The lane changing class is associated with the vehicle departing from the lane. The lane keeping class is associated with the vehicle staying on the lane. The classification function is defined in a lateral velocity dimension of the vehicle and a lateral distance dimension of the vehicle, and the classification function represents a boundary between the lane changing class and the lane keeping class.