An embodiment object recognition apparatus includes a LIDAR, a camera, a radar, one or more processors, and a storage device storing programs executed by the one or more processors, the program includes instructions to identify a fusion trajectory corresponding to an external object acquired by a camera and a radar, identify a target fusion trajectory, identify a LIDAR trajectory corresponding to the external object represented by the target fusion trajectory, identify a target LIDAR trajectory, identify a second LIDAR point satisfying a positional condition, and identify a target LIDAR trajectory corresponding to the external object represented by the target fusion trajectory. Identifying, among the second LIDAR points, at least one third LIDAR point that satisfies a distance condition, identifying the distance condition based on a distance from a point corresponding to the host vehicle to the second LIDAR point, and associating and storing a target fusion trajectory with the third LIDAR point based on identifying the third LIDAR point.
实施例物体识别设备包括LIDAR、相机、雷达、一个或多个处理器和存储装置,存储装置存储由一个或多个处理器执行的程序,程序包括用于以下的指令:识别对应于通过相机和雷达获取的外部物体的融合轨迹、识别目标融合轨迹、识别对应于由目标融合轨迹表示的外部物体的LIDAR轨迹、识别目标LIDAR轨迹、识别满足位置条件的第二LIDAR点、在第二LIDAR点中识别满足距离条件的至少一个第三LIDAR点,基于从对应于所述主车辆的点到第二LIDAR点的距离来识别该距离条件,以及基于识别第三LIDAR点来将目标融合轨迹与第三LIDAR点关联和存储。
Apparatus for recognizing object and method thereof
用于识别物体的设备以及其方法
2025-04-25
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |