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In the development of automated driving vehicle, it is important to detect the driving intentions of the remote vehicles, such as if the remote vehicle on left lane intends to keep driving along the same lane (lane keeping) or change to right lane (change to right lane which results in cut in to host lane), or if the lead vehicle intends to follow the vehicle on the adjacent lane and then change to that adjacent lane. In this paper, we have proposed and implemented a remote vehicle driving intention estimation system which specifically detects the driving intentions of remote vehicles in lateral direction. The estimation FOV covers the three lanes (left, ego, right). The main estimated driving intentions include lane keeping, start lane change to left or right side, arriving to left or ego or right lane, etc.