Apparatus and method for predicting concurrent lane change and vehicle including the same

A method of predicting a concurrent lane change of a subject vehicle and a surrounding vehicle in a concurrent lane change prediction apparatus including a subject vehicle estimator, a surrounding vehicle state estimator, a lane state estimator, and a lane change predictor, the method comprising:

• estimating, by the subject vehicle state estimator, a state of the subject vehicle based on subject vehicle information and surrounding lane state information;
• estimating, by the surrounding vehicle state estimator, a state of the surrounding vehicle based on the estimated subject vehicle state information and surrounding vehicle information;
• estimating, by the lane state estimator, a state of a surrounding lane based on the estimated subject vehicle state information and surrounding lane information;
• as a heading angle of the subject vehicle changes, predicting, by the lane change predictor, the concurrent lane change of the subject vehicle and the surrounding vehicle based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information;
• and
• adjusting, by a subject vehicle controller, the heading angle of the subject vehicle during the predicted concurrent lane change of the subject vehicle, and the surrounding vehicle,
• wherein the predicting of the concurrent lane change of the subject vehicle and the surrounding vehicle is performed according to recognizing, based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information, a situation in which a front wheel of the subject vehicle and a front wheel or a rear wheel of the surrounding vehicle are located on a first same road line or a situation in which a rear wheel of the subject vehicle and the front wheel of the surrounding vehicle are located on a second same road line.

A subject vehicle comprising:

• a plurality of sensors configured to acquire driving information of the subject vehicle, driving information of a surrounding vehicle, and information of a surrounding lane;
• and
• an apparatus in communication with the plurality of sensors;
• wherein the apparatus is configured to, as a heading angle of the subject vehicle changes, predict a concurrent lane change of the subject vehicle and the surrounding vehicle based on the driving information of the subject vehicle, the surrounding vehicle driving information, and the surrounding lane information each received from the plurality of sensors and adjust the heading angle of the subject vehicle during the predicted concurrent lane change of the subject vehicle and the surrounding vehicle,
• wherein predicting the concurrent lane change of the subject vehicle and the surrounding vehicle is performed according to recognizing, based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information, a situation in which a front wheel of the subject vehicle and a front wheel or a rear wheel of the surrounding vehicle are located on a first same road line or a situation in which a rear wheel of the subject vehicle and the front wheel of the surrounding vehicle are located on a second same road line.