A method of determining a kinematic of a target in relation to an ego vehicle, the method comprising the following steps: - (S1) selecting the target when it is detected in a predetermined sensing zone; - (S2) generating, at each measurement cycle a trace of the target based on its position, heading, speed and acceleration, determined using detected direction data and historical measured positions; - (S3) predicting, at each measurement cycle a curve the target is taking and calculating a radius of the curve using the generated trace; - (S4) projecting, at each measurement cycle, a number of n target paths created as movement functions of a polynomial degree p depending on the calculated radius, after having a trace of at least 2p-1 historical points, wherein a target path is a path that could be followed by the target as normal maneuver; at each further measurement cycle, newly projecting target paths and adding higher probabilities to the paths projected in a previous measuring cycle which are equal with the newly projected ones and keeping the projected paths, if the radius remains the same as in the previous measuring cycle, and computing kinematics values associated to the projected paths; - (S5) computing predicted kinematics values using a smoothing filter; - (S6) comparing the predicted kinematics values with the kinematics values the associated to projected paths; and - (S7) determining the final kinematics values from the comparison of the predicted kinematics values with the kinematics values associated to the projected target paths; wherein a most probable path of a target vehicle is chosen after comparing the predicted path with the projected path. - (S1) selecting the target when it is detected in a predetermined sensing zone; - (S2) generating, at each measurement cycle a trace of the target based on its position, heading, speed and acceleration, determined using detected direction data and historical measured positions; - (S3) predicting, at each measurement cycle a curve the target is taking and calculating a radius of the curve using the generated trace; - (S4) projecting, at each measurement cycle, a number of n target paths created as movement functions of a polynomial degree p depending on the calculated radius, after having a trace of at least 2p-1 historical points, wherein a target path is a path that could be followed by the target as normal maneuver; at each further measurement cycle, newly projecting target paths and adding higher probabilities to the paths projected in a previous measuring cycle which are equal with the newly projected ones and keeping the projected paths, if the radius remains the same as in the previous measuring cycle, and computing kinematics values associated to the projected paths; - (S5) computing predicted kinematics values using a smoothing filter; - (S6) comparing the predicted kinematics values with the kinematics values the associated to projected paths; and - (S7) determining the final kinematics values from the comparison of the predicted kinematics values with the kinematics values associated to the projected target paths; wherein a most probable path of a target vehicle is chosen after comparing the predicted path with the projected path. <EOS>