US 12,455,378 B2
Apparatus and method for tracking an object using a LiDAR sensor
Mu Gwan Jeong, Seoul (KR); and Nam Gyun Kim, Seongnam-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Aug. 5, 2021, as Appl. No. 17/395,261.
Claims priority of application No. 10-2020-0171572 (KR), filed on Dec. 9, 2020.
Prior Publication US 2022/0179080 A1, Jun. 9, 2022
Int. Cl. G01S 17/89 (2020.01); G01B 11/24 (2006.01); G01S 7/48 (2006.01); G01S 17/66 (2006.01)
CPC G01S 17/66 (2013.01) [G01B 11/24 (2013.01); G01S 7/4808 (2013.01); G01S 17/89 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An object-tracking method using a LiDAR sensor, the object tracking method comprising:
generating a grid map based on a point cloud generated with respect to an object using a LiDAR sensor mounted to a vehicle traveling in an x-axis direction;
performing static labeling when an absolute value of a y-coordinate of a center of each grid on the grid map in a y-axis direction that intersects the x-axis direction is less than a y-axis coordinate threshold value; and
performing dynamic labeling when the absolute value is not less than the y-axis coordinate threshold value,
wherein, in the static labeling, a spacing distance between a first point and a second point, respectively located in a first grid and a second grid that are different from each other and are compared with each other, is compared with a first threshold value that is a fixed value, and the first grid and the second grid are included in a same cluster depending on a result of comparison, and
wherein, in the dynamic labeling, whether to include the first grid and the second grid in a same cluster is determined using a second threshold value that varies depending on first and second angles, respectively formed by the first and second points based on a position of the LiDAR sensor, and the spacing distance and using a third threshold value that varies depending on a distance from the position of the LiDAR sensor to the first point or the second point.