SYSTEM AND METHOD FOR TARGET BEHAVIOR PREDICTION USING HOST PREDICTION IN ADVANCED DRIVING ASSIST SYSTEM (ADAS), AUTONOMOUS DRIVING (AD), OR OTHER APPLICATIONS

A method includes obtaining sensor data associated with a target object at a host vehicle and generating at least one first polynomial associated with the host vehicle. Each first polynomial is a representation of an estimated behavior of the host vehicle. The method also includes identifying relative positions of the target object over time and generating at least one second polynomial associated with the target object based on the relative positions. Coefficients of each second polynomial are based on a magnitude of a covariance of the relative positions used to generate the second polynomial. Each second polynomial is a representation of an estimated behavior of the target object. The method further includes determining whether a collision between the host vehicle and the target object is possible based on the first and second polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions.