US 12,481,026 B2
Method for extracting outline of object in vehicle and vehicle thereof
Mi Rim Noh, Jeonju-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 Feb. 8, 2023, as Appl. No. 18/107,120.
Claims priority of application No. 10-2022-0087062 (KR), filed on Jul. 14, 2022.
Prior Publication US 2024/0019545 A1, Jan. 18, 2024
Int. Cl. G01S 7/48 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 7/4802 (2013.01) [G01S 17/89 (2013.01); G01S 17/931 (2020.01)] 20 Claims
OG exemplary drawing
 
1. An object outline extracting method which is executed by a processor in a vehicle, the method comprising:
detecting distributed positions of points in global quadrants generated based on a location of the vehicle, the points obtained from light detection and ranging (LiDAR) data of an object of interest, the global quadrants including a reference boundary for a search order;
analyzing the distributed positions of the points, and determining whether the points are distributed in a preset area of the global quadrants;
when the processor concludes that the points are distributed in the preset area, resetting the reference boundary to obtain a reset reference boundary; and
generating an object contour of the object by connecting the points in the search order based on the reset reference boundary and generating a track; and
controlling the vehicle based on the generated track and the generated object contour.