METHOD AND APPARATUS FOR PREDICTING A PATH OF A TARGET

A method for predicting a path of a target includes receiving driving information of an ego vehicle, driving information of the target, and a predicted path of the ego vehicle. The predicted path of the ego vehicle is a sequence of points representing positions and directions of the ego vehicle at each prediction time. The method further includes determining whether the target is driving relative to a path of the ego vehicle based on the driving information of the ego vehicle and the target. The method further includes generating a virtual lane based on the predicted path of the ego vehicle. The method further includes generating a predicted path of the target based on the virtual lane.