a storage configured to store a high definition map, a Lane Selection Network (LSN) including at least one Convolution Neural Network (CNN), and a Trajectory Prediction Network (TPN); and

a controller configured to:

extract lane information around a target vehicle, traveling around a host vehicle, based on the high definition map,

input the lane information around the target vehicle and previous trajectory information of the target vehicle to the LSN to detect reference lane information, and

input the reference lane information and the previous trajectory information of the target vehicle to the TPN to acquire future trajectory information of the target vehicle,

wherein the lane information includes a Lane Coordinate Vector (LCV) indicating a center line of each lane, and

wherein the controller determines center lines for respective lanes based on a reference center line located closest to a previous driving trajectory of the target vehicle, projects a current location of the target vehicle onto each center line, sets segments with respect to the current location of the target vehicle on each center line, and extracts coordinates of equal intervals on each segment as the lane information.