A method for determining whether a target vehicle in front of a host vehicle intends to change lanes using radar data and image data is disclosed, comprising the steps of processing the image data to detect the boundaries of the lane of the host vehicle; estimating a ground plane by determining a projected vanishing point of the detected lane boundaries; using a camera projection matrix to map the target vehicle from the radar data to image coordinates; and determining lane change intentions of the target vehicle based on a moving trajectory and an appearance change of the target vehicle. Determining lane change intentions based on a moving trajectory of the target vehicle is based on vehicle motion trajectory relative to the center of the lane such that the relative distance of the target vehicle from the center of the lane follows a predetermined trend. Determining lane change intentions based on an appearance change of the target vehicle is based on a template that tracks changes to the appearance of the rear part of the target vehicle due to rotation.