US 12,292,509 B2
Method and system for classifying objects around vehicle
Se Jong Heo, Sejong-si (KR); Kyung Jae Ahn, Seongnam-si (KR); Yun Jung Kim, Siheung-si (KR); Yeon Sik Kang, Seoul (KR); and Ju Yeon Cho, Yangju-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Kookmin University Industry Academy Cooperation Foundation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Kookmin Univeristy Industry Academy Cooperation Foundation, Seoul (KR)
Filed on Jul. 25, 2022, as Appl. No. 17/872,113.
Claims priority of application No. 10-2022-0029523 (KR), filed on Mar. 8, 2022.
Prior Publication US 2023/0288568 A1, Sep. 14, 2023
Int. Cl. G01S 17/931 (2020.01); G01S 17/06 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01)
CPC G01S 17/931 (2020.01) [G01S 17/06 (2013.01); G01S 17/58 (2013.01); G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for classifying objects around a vehicle, the method comprising:
generating a dynamic occupancy grid map comprising a plurality of cells comprising point data corresponding to each of a plurality of objects located around the vehicle and velocity vector information of the point data, based on LiDAR data received from a LiDAR sensor of the vehicle and information related to movement of the vehicle;
determining a cluster corresponding to each of the plurality of objects on the dynamic occupancy grid map using a clustering technique; and
classifying an object corresponding to the cluster into a static object or a dynamic object, based on a region size of the cluster and velocity vector information included in cells belonging to the cluster.