Abstract: A method of predicting a trajectory of a target vehicle with respect to an ego vehicle includes receiving a first image having a target object representing a target vehicle on a road from a camera mounted on the ego vehicle, generating a bounding box associated with the target vehicle, the bounding box surrounding a contour of the target object, extracting tire contact information of the target object with a road surface from the first image, wherein each tire contact information represents coordinates, in the first image, of contact between a corresponding tire and the road, mapping the plurality of tire contact information from the first image to a bird's eye view image of the first image, and calculating the trajectory, with reference to a moving direction of the ego vehicle, of the target object using the mapped tire contact information on the bird's eye view image.