Lane change determining apparatus, junction entry determining apparatus and method thereof

A junction (JC) entry determining method, comprising:

• acquiring, by a controller, positional information of a vehicle surrounding object using a radar;
• determining, by the controller, whether a junction (JC) entrance is present using the positional information;
• determining, by the controller, a width of a right space of the vehicle using the positional information;
• capturing, by the controller, an image of a vehicle surrounding environment;
• determining, by the controller, a type of right lane of the vehicle using the captured image;
• and
• determining, by the controller, whether the vehicle enters the JC based on whether the JC entrance is present, the width of the right space of the vehicle, and the type of lane,
• wherein the positional information includes a distance and an angle value from the vehicle to the vehicle surrounding object, and
• wherein the determining whether the JC entrance is present includes:
• detecting, by the controller, positional information on a guardrail in the positional information;
• aligning, by the controller, the detected positional information in angle order;
• and
• determining, by the controller, whether the JC entrance is present, in response to determining that a discontinuous point at which the distance is increased or reduced to a preset distance or more is prevent by comparing the distances of the aligned positional information.