Method and system for estimating lane changing intention of target vehicle

A system for estimating a lane changing intention of a target vehicle, comprising:

• at least one sensor configured to detect the target vehicle and at least one peripheral vehicle of the target vehicle;
• and
• a controller comprising a processor configured to estimate the lane changing intention of the target vehicle and a vehicle controller configured to control a host vehicle based on the lane changing intention,
• wherein the processor is further configured to:
• accumulate driving risk data of the target vehicle with respect to the at least one peripheral vehicle while the target vehicle is driving straight;
• determine whether the driving risk data has been accumulated for a predetermined time;
• generate a risk adaptability model which is a probability-based model with respect to how much risk the target vehicle takes from the at least one peripheral vehicle while driving straight, based on the driving risk data if the driving risk data has been accumulated for the predetermined time;
• and
• estimate the lane changing intention of the target vehicle based on the risk adaptability model.