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The uncertainty of driving behaviors of all cars and trajectories variation of preceding cars with changing path curvature make it hard for traditional radar-based Adaptive Cruise Control (ACC) system to choose its valid target, which is caused by the deficient judgment about the preceding curves and the behaviors of preceding cars. Through statistics and classification of the trajectories that host and preceding objects generate, the proposed method could differentiate the operating conditions of each car, either in straight lane, on curve or in lane-change, thus front path prediction and host vehicles future lane estimation can be well fulfilled. From radar and host cars information a coordinate that changes under several criteria can be established, based on which the trajectories of all cars can be classified and analyzed. This complete method can find the valid target for ACC system and enable the system to overcome …