System and method for vehicle path prediction

A method of predicting a future path of a vehicle, comprising the steps of:

• sensing a speed, a direction, and a yaw rate of the vehicle;
• sensing a steering angle of the vehicle;
• sensing a driving lane near the vehicle, or along which the vehicle is being driven;
• calculating a first path prediction, for a first period of time following a current time, the first path prediction comprising a trajectory predicted based on the sensed speed, the sensed direction and the sensed yaw rate;
• calculating a second path prediction, for a second period of time, at least some of which is later than the first period of time, which assumes that a steering action arising from changes in the steering angle will take effect on the vehicle;
• calculating a third path prediction, for a third period of time, at least some of which is later than the second period of time, which assumes that the driver of the vehicle will control the trajectory of the vehicle to attempt to follow at least substantially the driving lane;
• formulating a combined predicted path for the first, the second and the third periods of time, wherein the first, the second and the third path predictions each contribute to the combined predicted path;
• and
• activating one or more vehicle safety systems if it is determined, based on the combined predicted path that the vehicle will, or is likely to, encounter a hazardous situation.