METHOD AND APPARATUS FOR ESTIMATING A YAW RATE AND PREDICTING A PATH OF A TARGET

A method for predicting a driving path of a target includes receiving driving information of an ego vehicle and the target from a plurality of sensors attached to the ego vehicle. The method further includes calculating a heading angle and driving direction of the target based on bounding box of the target. The heading angle of the target is a heading angle of the bounding box of the target. The method further includes calculating a yaw rate of the target based on the heading angle and the driving direction of the target. The method further includes generating a yaw rate profile of the target based on the yaw rate of the target. The method further includes predicting a path of the target based on the yaw rate profile of the target.