| CPC G01S 13/89 (2013.01) [G01S 13/931 (2013.01); G01S 2013/9315 (2020.01)] | 12 Claims |
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1. An apparatus for monitoring a surrounding environment of a vehicle, comprising:
a sensor unit comprising a plurality of detection sensors for detecting objects outside a vehicle according to a frame at a time period; and
a controller configured to;
extract a stationary object from among the objects detected by the sensor unit based on behavior information of the vehicle,
map the stationary object to a grid map,
add occupancy information to each of grids constituting the grid map, in response to the mapping being performed,
calculate an occupancy probability parameter, indicative of a probability that the stationary object is located on each grid, from the occupancy information added to the grid in the grid map in a plurality of frames to be monitored,
monitor the surrounding environment of the vehicle based on the occupancy probability parameter, and
correct a shaded grid, corresponding to a shaded area where the sensor unit is not able to detect an object outside the vehicle, in a differential manner according to the speed of the vehicle,
wherein the controller is further configured to:
correct the shaded grid corresponding to the shaded area where the sensor unit is not able to detect the object outside the vehicle in a Kth frame, in a first scheme to receive an occupancy probability parameter of a grid around the shaded grid, in response to the speed of the vehicle being less than a threshold, and
correct the shaded grid from an outermost shaded grid in the first scheme, and
set a highest occupancy probability parameter, from among occupancy probability parameters of grids located within a set range from the shaded grid, as an occupancy probability parameter of the shaded grid from the outermost shaded grid in the first scheme.
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