Method and apparatus with cut-in vehicle movement predictor

An electronic device comprising:

• a radar device configured to provide radar data;
• and
• a processor configured to:
• identify a region where a cut-in object is positioned;
• generate a plurality of points of the cut-in object in a first coordinate system based on distance, direction of arrival (DOA), and velocity corresponding to the region, the plurality of points being determined from the radar data;
• determine a first velocity of the cut-in object by transforming the plurality of points of the first coordinate system into a second coordinate system based on time, frequency, and the velocity corresponding to the region;
• separate a second velocity being a Doppler velocity corresponding to at least one wheel of the cut-in object from the second coordinate system based on the first velocity of the cut-in object;
• determine at least one position of the at least one wheel of the cut-in object based on points corresponding to the second velocity among the plurality of points of the first coordinate system;
• generate at least one of first information related to a movement of the cut-in object or second information related to a direction of the cut-in object based on the at least one position of the at least one wheel;
• determine an estimated position of the cut-in object based on at least one of the first information or the second information;
• and
• control a driving vehicle based on the estimated position of the cut-in object, wherein the identification of the region of the cut-in object is performed before the separation of the second velocity.

A processor-implemented method comprising:

• identifying a region where a cut-in object is positioned;
• generating a plurality of points of the cut-in object in a first coordinate system based on distance, direction of arrival (DOA), and velocity corresponding to the region, the plurality of points being determined from the radar data;
• determining a first velocity of the cut-in object by transforming the plurality of points of the first coordinate system into a second coordinate system based on time, frequency, and the velocity corresponding to the region;
• determining a second velocity being a Doppler velocity corresponding to at least one wheel of the cut-in object from the second coordinate system based on the first velocity of the cut-in object;
• determining at least one position of the at least one wheel of the cut-in object based on points corresponding to the second velocity among the plurality of points of the first coordinate system;
• generating at least one of first information related to a movement of the cut-in object or second information related to a direction of the cut-in object based on the at least one position of the at least one wheel;
• determining an estimated position of the cut-in object based on at least one of the first information or the second information;
• and
• controlling a driving vehicle based on the estimated position of the cut-in object,
• wherein the identifying of the region of the cut-in object is performed before the determining of the second velocity.