Apparatus for recognizing object and method thereof

Abstract

The invention relates to an apparatus for recognizing an object and a method thereof. The apparatus may include a sensor and a processor configured to determine a point identified in a frame associated with an object, determining whether the object is not present in a first frame prior to the frame, whether all or part of the points are not occluded, and whether the moving distance of the object between the frame and a second frame after the frame is greater than a threshold distance or whether the speed of the object is greater than a threshold speed, a reliability value is assigned to the object based on at least one of a minimum value of the first axis coordinates of the points and a maximum value of the first axis coordinates of the points being within a range or based on at least one of the aforementioned determinations, determining that the object is moving or movable, and outputting a signal indicating that the object is moving or movable.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0117175 filed on September 4, 2023, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an object recognition apparatus and method, and more particularly, to a technology for determining characteristics of an object based on positions of contour points obtained by a sensor such as light detection and ranging (LIDAR). Background Art

[0004] An autonomous vehicle or a vehicle with an activated driver assistance device can detect the surrounding environment and obstacles through sensors to protect the driver and determine a route. Specifically, research on determining surrounding objects through sensors (e.g., LIDAR) is ongoing because the accuracy of data obtained through LIDAR is higher than that of data obtained through radar.

[0005] The vehicle can obtain data indicating the position of objects around the vehicle through LIDAR. The distance from the LIDAR to the object can be obtained by the interval between the time when the LIDAR emits laser light and the time when the laser light reflected by the object is received. The vehicle is able to determine the position of a point including the outside of the object in the space where the vehicle is located based on the angle of the emitted laser light and the distance to the object.

[0006] Based on the movement information of the acquired points, the autonomous vehicle or the vehicle with the activated driver assistance device can determine the information of the objects represented by these points. Specifically, the technology for determining whether an object is moving, movable, or immovable (e.g., a moving object, an object that can be in a moving state, or an object that cannot be in a moving state) can be useful for ensuring the stability of autonomous driving or driver-assisted driving and reducing the risk of accidents. Summary of the invention

[0007] According to the present disclosure, a device may include: a sensor and a processor, wherein the processor is configured to: determine a contour point that is identified in a plane in a specific frame and included in an object frame representing an object, wherein the plane is formed by a first axis and a second axis, the first axis corresponds to a moving direction of the sensor, and the second axis is perpendicular to the first axis; determine whether a minimum value of a first-axis coordinate of the contour point is within a range, or whether a maximum value of the first-axis coordinate of the contour point is within the range, determine whether the object does not exist in a first frame before the specific frame, and determine whether all or part of the contour point is not blocked by another object different from the object. block; determine whether the moving distance of the object between the specific frame and a second frame after the specific frame is greater than a specified distance, or whether the speed of the object is greater than a specified speed; assign a reliability value to the object in the specific frame based on at least one of the following items: the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate are within the range, the object does not exist in the first frame, all or part of the contour point is not blocked by the other object, the moving distance is greater than the specified distance, and the speed is greater than a specified speed; and determine that the object is moving or movable based on the reliability value, and output a signal indicating that the object is moving or movable.

[0008] The device, wherein the processor is configured to determine whether the minimum value of the first-axis coordinate is within the range, and based on the determination that the minimum value of the first-axis coordinate is within the range, determine whether the maximum value of the first-axis coordinate is within the range.

[0009] The device, wherein the processor is configured to: assign a first boundary object feature value as a specified value to the object in the specific frame based on the minimum value of the first axis coordinate being within the range; assign a second boundary object feature value as the specified value to the object in the specific frame based on the object not existing in the first frame and the maximum value of the first axis coordinate being within the range; assign the second boundary object feature value assigned to the object in the first frame to the object in the specific frame based on any one of the following items: the assigned first boundary object feature value is the specified value, the object exists in the first frame, and the maximum value of the first axis coordinate does not fall within the range; and assign the reliability value to the object included in the specific frame based on at least one of the following items: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are the specified values, all or part of the contour point is not occluded by another object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0010] The device, wherein the processor is configured to: determine a relative movement distance of the object relative to the vehicle based on a difference between a position of a point corresponding to the object in the specific frame and a position of a point corresponding to the object in the second frame; determine the movement distance of the object based on a sum of a movement distance of the vehicle between the specific frame and the second frame and a relative movement distance of the object; and match a point corresponding to the object in the specific frame with a point corresponding to the object in the second frame.

[0011] The device, wherein the processor is configured to: determine a center point included in a frontmost line segment in a moving direction of the object among the line segments constituting the object frame as a point corresponding to the object, or determine another point included in the frontmost line segment as a point corresponding to the object.

[0012] The device, wherein the range includes a value of the first axis coordinate between a value of the first axis coordinate corresponding to a point of the vehicle and a value of the first axis coordinate that is a threshold distance away from the first axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

[0013] The device, wherein the processor is configured to: determine that the second-axis coordinate of the point corresponding to the object is within the second-axis range, and assign a reliability value to the object based on at least one of the following items: the second-axis coordinate is within the second-axis range, at least one of the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate is within the range, the object does not exist in the first frame, all or part of the contour point is not occluded by the other object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0014] The device, wherein the processor is configured to: determine whether the second-axis coordinate corresponding to the point of the object is within a second-axis range, the second-axis range including a specified number of lanes on both sides of the lane where the vehicle is located, and assign the reliability value to the object based on the second-axis coordinate corresponding to the point of the object being within the second-axis range.

[0015] The apparatus, wherein the processor is configured to assign an identifier to the object indicating that the object is moving or movable based on a determination that the object is moving or movable.

[0016] The device, wherein the specified speed indication is used to determine a threshold value for determining whether the object is moving or movable based on a minimum first-axis coordinate value of the object included in the range or a maximum first-axis coordinate value of the object, and wherein the value of the first-axis coordinate included in the range is between the value of the first-axis coordinate corresponding to a point of the vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate corresponding to the point of the vehicle by a threshold distance in the direction of the first axis.

[0017] According to the present disclosure, a method executed by a processor may include: determining a contour point identified in a plane in a specific frame and included in an object frame representing an object, wherein the plane is formed by a first axis and a second axis, the first axis corresponds to a moving direction of a sensor, and the second axis is perpendicular to the first axis; determining whether a minimum value of a first-axis coordinate of the contour point is within a range or a maximum value of a first-axis coordinate of the contour point is within a range; determining whether the object does not exist in a first frame before the specific frame; determining that all or part of the contour point is not blocked by another object different from the object; determining whether a moving distance of the object between the specific frame and a second frame after the specific frame is greater than a specified distance or whether a speed of the object is greater than a specified speed; assigning a reliability value to the object in the specific frame based on at least one of the following items: the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate are within the range, the object does not exist in the first frame, the whole or part of the contour point is not blocked by the other object, the moving distance is greater than the specified distance, and the speed is greater than the specified speed; determining that the object is moving or movable based on the reliability value; and outputting a signal indicating that the object is moving or movable.

[0018] The method, wherein the determining whether the maximum value is within the range comprises: determining whether the minimum value of the first-axis coordinate is within the range, and determining whether the maximum value of the first-axis coordinate is within the range based on the determination that the minimum value of the first-axis coordinate is within the range.

[0019] The method may also include: assigning a first boundary object feature value as a specified value to the object in the specific frame based on the minimum value of the first axis coordinate being within the range; assigning a second boundary object feature value as the specified value to the object in the specific frame based on the object not existing in the first frame and the maximum value of the first axis coordinate being within the range; assigning the second boundary object feature value assigned to the object in the first frame to the object in the specific frame based on any one of the following items: the assigned first boundary object feature value is the specified value, the object exists in the first frame or the maximum value of the first axis coordinate is not within the range; and assigning the reliability value to the object included in the specific frame based on at least one of the following items: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are the specified values, all or part of the contour point is not blocked by another object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0020] The method, wherein determining whether the moving distance of the object between the specific frame and the second frame after the specific frame is greater than the specified distance or whether the speed of the object is greater than the specified speed includes: determining the relative moving distance of the object relative to the vehicle based on the difference between the position of the point corresponding to the object in the specific frame and the position of the point corresponding to the object in the second frame, determining the moving distance of the object based on the sum of the moving distance of the vehicle between the specific frame and the second frame and the relative moving distance of the object, and matching the point corresponding to the object in the specific frame with the point corresponding to the object in the second frame.

[0021] The method, wherein determining whether the moving distance of the object between the specific frame and a second frame after the specific frame is greater than the specified distance or whether the speed of the object is greater than the specified speed includes: determining the center point contained in the frontmost line segment in the moving direction of the object among the line segments constituting the object frame as the point corresponding to the object, or determining other points contained in the frontmost line segment as the points corresponding to the object.

[0022] The method, wherein the range includes a value of the first axis coordinate between a value of the first axis coordinate corresponding to a point of the vehicle and a value of the first axis coordinate that is a threshold distance away from the first axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

[0023] The method may also include: determining that the second-axis coordinate of the point corresponding to the object is within the second-axis range, and assigning a reliability value to the object in a specific frame based on at least one of the following items: the second-axis coordinate is within the second-axis range, at least one of the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate is within the range, the object does not exist in the first frame, all or part of the contour point is not occluded by the other object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0024] The method may also include: determining whether the second-axis coordinate of the point corresponding to the object is within a second-axis range, the second-axis range including a specified number of lanes on both sides of the lane where the vehicle is located, and assigning the reliability value to the object based on the second-axis coordinate of the point corresponding to the object being within the second-axis range.

[0025] The method may further include assigning an identifier to the object indicating that the object is moving or is capable of moving based on the determination that the object is moving or is movable.

[0026] The method described herein, wherein the specified speed indication is used to determine a threshold value of whether the object is moving or movable based on a minimum first-axis coordinate value of the object or a maximum first-axis coordinate value of the object included in the range, and wherein the value of the first-axis coordinate included in the range is between the value of the first-axis coordinate corresponding to a point of the vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate corresponding to the point of the vehicle by a threshold distance in the direction of the first axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0028] Figure 1 An embodiment of a block diagram illustrating an object recognition device according to an embodiment of the present disclosure is shown;

[0029] Figure 2 An embodiment of a table showing information required to classify an object in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0030] Figure 3 An embodiment of a region in which a weight of a reliability value varies according to information related to an object recognition apparatus or an object recognition method according to an embodiment of the present disclosure is shown;

[0031] Figure 4An embodiment of an object appearing in a designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0032] Figure 5 An embodiment of an operation flow chart of an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown in which an object recognition device determines whether an object is a moving object or an object capable of being in a moving state based on whether the object appears in a designated area;

[0033] Figure 6 An embodiment of an object appearing in a designated area and an object not appearing in a designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0034] Figure 7 An embodiment of determining whether an object appears in a specified area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0035] Figure 8 An embodiment of an operation flow chart of an object recognition device assigning a first boundary object feature and a second boundary object feature to an object in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0036] Fig. 9 An embodiment of determining whether an object located in a lane spaced apart from a lane in which a host vehicle is located appears in a designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown;

[0037] Fig.10 An embodiment of an operation flow chart showing an object recognition device assigning a reliability value to an object in an object recognition device or an object recognition method according to an embodiment of the present disclosure; and

[0038] Fig.11 An embodiment of a computing system related to an object recognition device and an object recognition method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0039] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of the drawings, it should be noted that even when the same or equivalent components are shown in other drawings, the same or equivalent components are also marked with the same reference numerals. In addition, when describing the embodiments of the present disclosure, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily obscure the subject matter of the present disclosure.

[0040] When describing the components according to the embodiments of the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, order, or sequence of the constituent components. Unless otherwise defined, all terms (including technical or scientific terms) used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. Those terms as defined in commonly used dictionaries should be interpreted as having the same meaning as the contextual meaning in the relevant technical field, and should not be interpreted as having an ideal or overly formal meaning unless explicitly defined in this application as having an ideal or overly formal meaning.

[0041] In addition, the terms “unit”, “device”, “member”, “body” and the like used hereinafter may indicate at least one shape structure or may indicate a unit for processing a function.

[0042] In addition, in the embodiments of the present disclosure, the expression "greater than" or "less than" may be used to indicate whether a specific condition is satisfied or met, but is only used to indicate the embodiments and does not exclude "greater than or equal to" or "less than or equal to". The condition indicating "greater than or equal to" may be replaced by "greater than", the condition indicating "less than or equal to" may be replaced by "less than", and the condition indicating "greater than or equal to and less than" may be replaced by "greater than and less than or equal to". In addition, "A" to "B" refers to at least one element from A (including A) to B (including B).

[0043] In the following, reference will be made to Figures 1 to 11 Embodiments of the present disclosure are described in detail.

[0044] Figure 1 An embodiment of a block diagram illustrating an object recognition device according to an embodiment of the present disclosure is shown.

[0045] Reference Figure 1 According to an embodiment of the present disclosure, the object recognition device 101 may be implemented inside a vehicle. In this case, the object recognition device 101 may be integrated with an internal control unit of the vehicle, or may be implemented as a separate device and connected to the control unit of the vehicle through a separate connection means.

[0046] Reference Figure 1 , the object recognition device 101 may include a LIDAR 103 and a processor 105 .

[0047] According to an embodiment, the processor 105 of the object recognition device 101 may obtain position information of points including objects around the vehicle of the object recognition device 101 through the LIDAR 103. The processor 105 of the object recognition device 101 may obtain a point cloud representing the object through the LIDAR 103. The processor 105 of the object recognition device 101 may determine contour points among the points included in the point cloud.

[0048] According to an embodiment, the processor 105 of the object recognition device 101 may determine the position information of the point corresponding to the object based on the contour points representing the object. For example, the point corresponding to the object may include the center point of the line segment that is the frontmost in the moving direction of the object among the line segments constituting the object frame, and the object frame includes the contour points representing the object. The center point may be referred to as a tracking point, but is not limited to this. For example, the point corresponding to the object may include but is not limited to the rightmost point among the contour points included in the object frame. For example, the point corresponding to the object may include but is not limited to the leftmost point among the contour points included in the object frame.

[0049] According to an embodiment, the processor 105 of the object recognition device 101 may calculate a score value indicating the probability that the object is a moving object (e.g., a moving vehicle) or an object that can be in a moving state (e.g., a stationary vehicle) based on the reliability value of the boundary object information of the object. Figure 2 Determining a score value indicating a probability that an object is a moving object or an object capable of being in a moving state based on a reliability value according to boundary object information is described.

[0050] According to an embodiment, the processor 105 of the object recognition device 101 may determine that an object is a mobile object or an object capable of being in a mobile state based on a score value indicating the probability that the object is a mobile object or an object capable of being in a mobile state being greater than a score value indicating the probability that the object is an object that cannot be in a mobile state.

[0051] According to an embodiment, the processor 105 of the object recognition device 101 may assign an identifier indicating that the object is a mobile object or an object capable of being in a mobile state to the object based on determining that the object is a mobile object or an object capable of being in a mobile state. The processor 105 of the object recognition device 101 may assign an identifier indicating that the object is an object that cannot be in a mobile state to the object based on determining that the object is an object that cannot be in a mobile state. The identifier may be called a flag, but may not be limited thereto.

[0052] Figure 2 An embodiment of a table is shown, which displays information required to classify an object in the object recognition device or the object recognition method according to the embodiment of the present disclosure.

[0053] Reference Figure 2 , table 201 may indicate the type of information used to calculate a score for determining whether an object is a moving object (e.g., a moving vehicle) or a movable object (e.g., an object capable of being in a moving state). An immobility score 203 may indicate a score for determining whether an object is a stationary object (e.g., an object that cannot be in a moving state, such as a pasted road sign). An immobility score 203 may be identified based on information such as out-of-lane information 211, frame size information 213, and frame matching information 215. A mobility score 205 may indicate a score for determining whether an object is a moving object or an object capable of being in a moving state. A mobility score 205 may be identified based on information such as in-lane information 217, tracking information 219, other in-lane object information 221, speed information 223, contour point distribution information 225, and boundary object information 227.

[0054] According to an embodiment, the first reliability may be a reliability value for determining whether the object is an object that cannot be in a mobile state. The processor of the object recognition device may determine the immobility score 203 by summing up the values ​​obtained by multiplying the first reliability indicated by the plurality of pieces of information by a weight. The second reliability may be a reliability value for determining whether the object is a mobile object or an object that can be in a mobile state. The processor of the object recognition device may determine the mobility score 205 by summing up the values ​​obtained by multiplying the second reliability indicated by the plurality of pieces of information by a weight.

[0055] According to an embodiment, the out-of-lane information 211 used to determine the immobility score 203 may represent a first reliability value assigned based on whether the object is recognized as being outside the lane. The frame size information 213 used to determine the immobility score 203 may represent a first reliability value assigned based on whether the size of the object frame is greater than or equal to a reference size. The frame matching information 215 used to determine the immobility score 203 may represent a first reliability value assigned based on the distribution of contour points and the matching degree of the object frame.

[0056] According to an embodiment, the in-lane information 217 may represent a second reliability value assigned based on whether the object is recognized as being in the lane. The tracking information 219 may represent a second reliability value assigned based on whether the object is moving. The speed information 223 may represent a second reliability assigned based on the speed of the object. The boundary object information 227 may represent a second reliability value assigned based on whether the object appears unobstructed at the boundary of the field of view.

[0057] According to an embodiment, the immobility score 203 may be identified by summing the values ​​obtained by multiplying the first reliability values ​​represented by the plurality of pieces of information by the weights. For example, the immobility score 203 may be identified by summing the values ​​obtained by multiplying the first reliability values ​​according to the out-of-lane information 211 by the weights corresponding to the out-of-lane information 211 (e.g., the weights S1 ), multiplying the first reliability value according to the frame size information 213 by a weight corresponding to the frame size information 213 (for example, a weight S2 ), multiplying the first reliability value according to the frame matching information 215 by the weight corresponding to the frame matching information 215 (for example, the weight S3 ) or the sum of any combination of these values. However, the embodiments of the present disclosure may not be limited thereto. According to an embodiment, the immobility score 203 may be identified by adding not only the values ​​obtained by multiplying the information listed in the table 201 by the weights, but also the values ​​obtained by multiplying the information not listed in the table 201 by the weights.

[0058] According to an embodiment, the mobility score 205 may be identified by summing up the values ​​obtained by multiplying the second reliability values ​​represented by the plurality of pieces of information by the weights. For example, the mobility score 205 may be identified by summing up the values ​​obtained by multiplying the second reliability values ​​according to the in-lane information 217 by the weight corresponding to the in-lane information 217 (e.g., the weight D1 ), multiplying the second reliability value according to the tracking information 219 by the weight corresponding to the tracking information 219 (for example, the weight D2 ), multiplying the second reliability value according to the other object information 221 in the lane by the weight corresponding to the other object information 221 in the lane (for example, the weight D3 ), multiplying the second reliability value according to the speed information 223 by the weight corresponding to the speed information 223 (for example, the weight D4 ), multiplying the second reliability value according to the contour point distribution information 225 by the weight corresponding to the contour point distribution information 225 (for example, the weight D5 ), multiplying the second reliability value according to the boundary object information 227 by the weight corresponding to the boundary object information 227 (for example, the weight D6 ) or the sum of any combination of these values. However, the embodiments of the present disclosure may not be limited thereto. According to an embodiment, the mobility score 205 may be identified by adding not only the values ​​obtained by multiplying the information listed in the table 201 by the weights, but also the values ​​obtained by multiplying the information not listed in the table 201 by the weights.

[0059] According to an embodiment, if the mobility score 205 of the specific object is higher than the immobility score 203 of the specific object, the processor of the object recognition device may determine that the specific object is a mobile object or an object that can be in a mobile state. According to an embodiment, if the immobility score 203 of the specific object is higher than the mobility score 205 of the specific object, the processor of the object recognition device may determine that the specific object is an object that cannot be in a mobile state.

[0060] According to an embodiment of the present disclosure, the processor of the object recognition device may determine the second reliability value represented by the boundary object information 227. Figures 4 to 10 A method for determining the second reliability value represented by the boundary object information 227 according to an embodiment is described. Hereinafter, the value of the second reliability represented by the boundary object information 227 may be referred to as a reliability value.

[0061] Figure 3 An embodiment of a region in which the weight of a reliability value varies according to information related to an object recognition apparatus or an object recognition method according to an embodiment of the present disclosure is shown.

[0062] Reference Figure 3 , frame 301 may represent a first area 305, a second area 307, and a third area 309 separated according to the distance from the main vehicle 303 including the object recognition device. The first area 305 may include an area within the field of view. The second area 307 may include an area for classifying an object of interest. The third area 309 may include an area other than the first area 305 and the second area 307.

[0063] According to an embodiment, the first area 305 may be referred to as a field of view (FoV) area, but may not be limited thereto. The second area 307 may be referred to as a category region of interest (category ROI), but may not be limited thereto. The third area 309 may be referred to as a default area, but may not be limited thereto.

[0064] According to an embodiment, the processor of the object recognition device may assign different weights for determining the immobility score or the mobility score according to the area in which the object is included (eg, Figure 2 This is because the highly important information may vary depending on the location of the object. For example, the processor of the object recognition device may only include the contour point distribution information (e.g., Figure 2 The weight of the contour point distribution information 225 in the first area 305 is set to a value greater than a default value (e.g., 0). Figure 2The weight of the boundary object information 227 in the second area 307 is set to be greater than the weight of the boundary object information in the second area 307 and the weight of the boundary object information in the third area 309.

[0065] Figure 4 An embodiment of an object appearing in a designated area in an object recognition apparatus or an object recognition method according to an embodiment of the present disclosure is shown.

[0066] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0067] Reference Figure 4 , in scenario 401 , an object 405 may be located within a specified range identified from a position of a host vehicle 403 including an object recognition device.

[0068] According to an embodiment, an object recognition device included in the host vehicle 403 may determine whether an object appears in a specified area. The specified area may be referred to as a field of view (FoV) area, but may not be limited thereto.

[0069] According to an embodiment, the object recognition device included in the main vehicle 403 may determine whether the minimum x-axis coordinate as the minimum value among the x-axis coordinates of the contour points included in the object frame representing the object falls within a specified range, or whether the maximum x-axis coordinate as the maximum value among the x-axis coordinates of the contour points falls within a specified range. According to an embodiment, if the minimum x-axis coordinate and the maximum x-axis coordinate fall within the specified range, the processor of the object recognition device may determine that the object is included in the specified area.

[0070] According to an embodiment, the value of the x-axis coordinate of a point included in a specified range (e.g., a range of points whose x-axis coordinates are greater than or equal to approximately 0 m and less than approximately 2 m) can be between the value of the x-axis coordinate of the point corresponding to the main vehicle 403 and the value of the x-axis coordinate that is separated from the x-axis coordinate of the point corresponding to the main vehicle 403 by a threshold distance in the x direction.

[0071] According to an embodiment, if the object 405 does not exist or does not appear in the first frame before the specific frame, the processor of the object recognition device may determine that the object 405 appears in the specific frame. The object 405 may appear in the specific frame because the host vehicle 403 has moved from one point (e.g., forward or backward) to another point (e.g., (-x) axis direction to (+x) axis direction).

[0072] According to an embodiment, the processor of the object recognition device may determine whether all or part of the contour points representing the object 405 are not blocked by an object other than the object 405. This is because the processor of the object recognition device must determine whether the object 405 (e.g., a guardrail or a road sign) is occluded or obstructed by another object (e.g., a truck or a tree) and appears in a specific frame.

[0073] According to an embodiment, the processor of the object recognition device may determine whether the moving distance of the object 405 between the specific frame and the second frame after the specific frame is greater than a specified distance, or whether the speed of the object 405 is greater than a specified speed. The specified speed may represent a threshold value (e.g., about 5 kph*time between the specific frame and the second frame) for determining that the object 405 is moving or movable (e.g., a moving object or an object capable of being in a moving state) based on the minimum x-axis coordinate of the object 405 or the maximum x-axis coordinate of the object 405 included in a specified range (e.g., a threshold range).

[0074] According to an embodiment, the processor of the object recognition device may assign a reliability value to the object 405 based on determining at least one of the following items or any combination of these items: at least one of the minimum x-axis coordinate and the maximum x-axis coordinate falls within the specified range, the object 405 does not exist in the first frame, all or part of the contour point is not blocked by another object, the moving distance is greater than the specified distance, and the speed of the object 405 is greater than the specified speed.

[0075] If the speed of the object 405 is greater than the specified speed, the object 405 appears in the field of view (FoV) area according to the specified range, or the moving distance of the object 405 is greater than the specified distance, and the object is not blocked by another object, it can be determined that the object 405 passes through the main vehicle 403 from one direction to another direction (for example, the (-x) axis direction to the (+x) axis direction). Since the object has been identified as not an object that cannot be in a moving state or cannot move (for example, a traffic cone) based on the moving distance of the object 405 or the speed of the object 405, the object 405 can be identified as a moving object or a movable object (for example, an object that can be in a moving state). This is because the possibility that an object that passes through the main vehicle 403 from one direction to another direction (for example, the (-x) axis direction to the (+x) axis direction) is a moving object or an object that can be in a moving state is high.

[0076] According to the embodiment, as shown in FIG. Figure 2 As described, the reliability value may include information based on the boundary object (e.g., Figure 2 The processor of the object recognition device may determine whether the object 405 is a moving object or an object capable of being in a moving state based on the reliability value.

[0077] According to an embodiment, the processor of the object recognition device may assign an identifier indicating that the object 405 is a mobile object or an object capable of being in a mobile state to the object 405 based on determining that the object 405 is a mobile object or an object capable of being in a mobile state. The identifier may be called a flag, but is not limited thereto.

[0078] Figure 5 An embodiment of an operation flow chart of an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown in which the object recognition device determines whether the object is a moving object or an object capable of being in a moving state based on whether the object appears in a designated area.

[0079] In the following, it is assumed Figure 1 The object recognition device 101 performs Figure 5 Additionally or alternatively, in Figure 5 In the description of , operations described as being performed by a device may be understood to be controlled by the processor 105 of the object recognition device 101 .

[0080] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0081] Reference Figure 5 In a first operation 501, a processor of an object recognition device according to an embodiment may determine whether an object appears in a boundary region. The boundary region may be referred to as a field of view (FoV) region, but embodiments of the present disclosure may not be limited thereto.

[0082] According to an embodiment, the processor of the object recognition device can determine whether the object is located in the boundary area based on the minimum x-axis coordinate falling within the specified range or the maximum x-axis coordinate falling within the specified range, wherein the minimum x-axis coordinate is the minimum value among the x-axis coordinates of the contour points included in the object box representing the object, and the maximum x-axis coordinate is the maximum value among the x-axis coordinates of the contour points.

[0083] According to another embodiment, the processor of the object recognition device may determine whether the minimum x-axis coordinate falls within the specified range, and then determine whether the maximum x-axis coordinate falls within the specified range based on the determination that the minimum x-axis coordinate falls within the specified range. The processor of the object recognition device may determine that the object is located in the boundary area based on the minimum x-axis coordinate or the maximum x-axis coordinate being included in the specified range.

[0084] The processor of the object recognition device may determine whether the object is present in the boundary area based on a determination that the object is located in the boundary area and the object does not exist in a first frame before a specific frame.

[0085] In the second operation 503, the processor of the object recognition device according to the embodiment may determine whether the object is blocked by another object. This is because, if the object is blocked by another object, the probability that the object is not recognized in the first frame is high because the object exists in the first frame before the specific frame but is blocked by another object. Further, this is because, if the object is blocked by another object, the unblocked portion of the object can be recognized as appearing in the boundary area because the portion of the object that is not blocked by another object has changed.

[0086] In a third operation 505 , the processor of the object recognition apparatus according to an embodiment may determine whether a moving distance of the object is greater than a specified distance or whether a speed of the object is greater than a specified speed.

[0087] The processor of the object recognition device may determine the moving distance of the object between a specific frame and a second frame after the specific frame. This is because if the moving distance of the object is greater than a specified distance (e.g., approximately 5 kph×the time between the specific frame and the second frame), the processor of the object recognition device determines that the speed of the object is greater than a specified speed (e.g., approximately 5 kph). The processor of the object recognition device may determine the speed of the object based on the moving distance of the object, but the operation of determining the speed of the object may not be limited thereto. For example, the processor of the object recognition device may determine the speed of the object through a sensor.

[0088] The processor of the object recognition device can assign a reliability value included in the boundary object information to the object based on a determination of at least one of the following or any combination of these items: the object is located in the boundary area, the object is not present in the first frame, the object is not blocked by another object, the object's movement distance is greater than a specified distance, and the object's speed is greater than a specified speed.

[0089] It should be noted that even if there is an object satisfying the specific condition in the first frame, the processor of the object recognition device may assign a reliability value to the object in the specific frame. Whether the specific condition is satisfied may be identified by the first boundary object feature and the second boundary object feature, which will be referred to below. Figures 6 to 9 Give a description.

[0090] In a fourth operation 507 , the processor of the object recognition apparatus according to an embodiment may determine whether the object is a moving object or an object capable of being in a moving state.

[0091] The processor of the object recognition device may determine a reliability value assigned to the object to determine whether the object is a moving object or an object capable of being in a moving state.

[0092] If the mobility score of the object identified based on the reliability value of the boundary object information (e.g., Figure 2 The mobility score 205 in is greater than the immobility score of the object (e.g., Figure 2 If the immobility score 203 is present in the object recognition device, the processor of the object recognition device may determine that the object is a moving object or an object that is capable of being in a moving state.

[0093] Figure 6 An embodiment of an object appearing in a designated area and an object not appearing in the designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown.

[0094] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0095] Reference Figure 6 In the first scenario 601, the object recognition device included in the host vehicle 603 may determine that the first object 605 appears in the first boundary area 607. In the second scenario 611, the object recognition device included in the host vehicle 603 may determine that the second object 613 does not appear in the second boundary area 615.

[0096] According to an embodiment, the processor of the object recognition device may assign a first boundary object feature value having a specified value (e.g., about 1) to the object based on the minimum x-axis coordinate falling within a specified range (e.g., the range of x-axis coordinates in the first boundary area 607 or the range of x-axis coordinates in the second boundary area 615), the minimum x-axis coordinate being the minimum value among the contour points included in the object box representing the object (e.g., the first object 605 or the second object 613). The first boundary object feature may be referred to as an internal field of view (internal FoV) variable, but embodiments of the present disclosure may not be limited thereto.

[0097] The processor of the object recognition device may assign a first boundary object feature value as a different value (e.g., approximately 0) to the object based on the minimum x-axis coordinate not falling within the specified range. The processor of the object recognition device may assign a first boundary object feature value as a specified value (e.g., approximately 1) to the object based on the minimum x-axis coordinate falling within the specified range.

[0098] According to an embodiment, the processor of the object recognition device may assign a second boundary object feature value as a specified value (e.g., about 1) to the object based on the fact that the object does not exist in the first frame before the specific frame and the maximum x-axis coordinate falls within the specified range. The second boundary object feature may be referred to as a field of view birth (FoV birth) variable, but embodiments of the present disclosure may not be limited thereto.

[0099] The processor of the object recognition device may assign a second boundary object feature that is a different value (eg, approximately 0) to the object based on the object being present in the first frame or the maximum x-axis coordinate not falling within a specified range.

[0100] The processor of the object recognition device can assign a second boundary object feature value (e.g., approximately 0 or 1) assigned to the object in the first frame to the object based on the assigned first boundary object feature value being a specified value, the object being present in the first frame, or the maximum x-axis coordinate being not included in a specified range.

[0101] In the first scenario 601 , according to an embodiment, the object recognition apparatus may determine that a first object 605 appears in a first boundary area 607 as a designated area.

[0102] The processor of the object recognition device may determine that the minimum x-axis coordinate value of the first object 605 falls within a specified range (e.g., a range of points whose x-axis coordinates are greater than or equal to about 0 m and less than about 2 m). Thus, the processor of the object recognition device may assign a first boundary object feature value as a specified value (e.g., about 1) to the first object 605. The first boundary area 607 may represent the specified range.

[0103] The processor of the object recognition device can determine that the object 605 does not exist in the first frame before the specific frame and the maximum x-axis coordinate of the first object 605 falls within the specified range. Thus, the processor of the object recognition device can assign a specified value (e.g., about 1) as the second boundary object feature value of the first object 605.

[0104] In the second scenario 611, according to an embodiment, the object recognition device of the host vehicle 603 may determine that the second object 613 does not appear in the second boundary area 615. The processor of the object recognition device may determine that the minimum x-axis coordinate value of the second object 613 is not included in the specified range (e.g., the range of points whose x-axis coordinates are greater than or equal to about 0m and less than about 2m). Thus, the processor of the object recognition device may assign a first boundary object feature value that is a value different from the specified value (e.g., about 0) to the second object 613. The second boundary area 615 may represent the specified range.

[0105] The processor of the object recognition device may determine that the object 605 exists in the first frame before the specific frame or the maximum x-axis coordinate is not included in the specified range. Thus, the processor of the object recognition device may assign a value different from the specified value (e.g., about 0) as the second boundary object feature value of the second object 613.

[0106] Figure 7 An embodiment of determining whether an object appears in a designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown.

[0107] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0108] Reference Figure 7 , in the first frame 701, the object recognition device included in the host vehicle 703 may determine that the first object 705 appears in the first boundary area 707, and it is difficult to determine the moving distance of the first object 705. In the second frame 711, the object recognition device included in the host vehicle 703 may determine that the second object 713 appears in the second boundary area 715 and determine the moving distance of the second object 713. The first frame 701 may be before the second frame 711.

[0109] According to an embodiment, in the first frame 701, the processor of the object recognition device may determine that the first object 705 does not exist in the frame before the first frame 701. Thus, the age value of the first object 705 may be 1. The age value of the first object 705 may refer to the number of times the object has been continuously recognized in the first frame 701 and previous frames (including the frame immediately before the first frame 701).

[0110] The processor of the object recognition device may determine that at least one of the minimum x-axis coordinate and the maximum x-axis coordinate of the first object 705 falls within a specified range (e.g., a range of points whose x-axis coordinates are greater than or equal to about 0 m and less than about 2 m), the first object 705 does not exist in a frame before the first frame 701, and all or part of the contour points of the first object 705 are not blocked by another object. The specified area may refer to the first boundary area 707.

[0111] It should be noted that since the first object 705 does not exist in the previous frame, the processor of the object recognition device cannot determine whether the moving distance of the first object 705 is greater than the specified distance. Therefore, the processor of the object recognition device may not be able to assign a reliability value according to the boundary object information to the first object 705. The boundary object information may be referred to as a non-blocking FoV object, but embodiments of the present disclosure may not be limited thereto.

[0112] According to an embodiment, in the second frame 711, the processor of the object recognition device may determine that the second object 713 is the same as the first object 705 in the first frame 701 (which is a frame before the second frame 711). Thus, the age value of the second object 713 may be 2. The age value of the second object 713 may refer to the number of times the object has been continuously recognized in the second frame 711 and previous frames (including the frame immediately before the second frame 711).

[0113] The processor of the object recognition device can determine the moving distance of the second object 713 between the first frame 701 and the second frame 711 based on the sum of the moving distance of the main vehicle 703 between the first frame 701 and the second frame 711 and the relative moving distance of the second object 713 relative to the main vehicle 703.

[0114] The processor of the object recognition device can determine the relative movement distance of the second object 713 relative to the host vehicle 703 based on the difference between the position of the representative point of the first object 705 in the first frame 701 and the position of the representative point of the second object 713 in the second frame.

[0115] Points of the object corresponding to the representative points of the first object 705 may match points of the object corresponding to the representative points of the second object 713. The representative points of the objects may include points included in the foremost line segment in the moving direction of the object among the line segments constituting the object frame.

[0116] The processor of the object recognition device can determine that: at least one of the minimum x-axis coordinate or the maximum x-axis coordinate of the second object 713 falls within a specified range (for example, a range of points whose x-axis coordinates are greater than or equal to approximately 0 m and less than approximately 2 m), all or part of the contour points of the second object 713 are not blocked by another object, and the moving distance of the second object 713 between the first frame 701 and the second frame 711 is greater than a specified distance.

[0117] It should be noted that the processor of the object recognition device is able to determine that the second object 713 matches the first object 705 in the first frame 701 before the second frame 711. In the first frame 701, the processor of the object recognition device may not be able to determine the movement distance of the first object 705 and therefore may not assign a reliability value, but the processor of the object recognition device may assign specified values ​​(e.g., about 1) as the first boundary object feature value and the second boundary object feature value of the first object 705.

[0118] According to an embodiment, the first boundary object feature value of the second object 713 may be identified as a specified value (e.g., an integer or real number approximately 1). The second boundary object feature value of the second object 713 may be identified as a value equal to the second boundary object feature value (e.g., specified value 1) of the first object 705. Thus, the processor of the object recognition device may determine the specified value (e.g., an integer or real number approximately 1) as the second boundary object feature value of the first object 705 and the second boundary object feature value of the second object 713 included in the second frame 711 (which may be an example of a specific frame).

[0119] Thus, in the second frame 711, the processor of the object recognition device can assign a reliability value based on the boundary object information to the second object 713 included in the second frame 711 based on the determination of at least one of the following items or any combination of these items: the first boundary object feature value assigned to the second object 713 and the second boundary object feature value assigned to the second object 713 are specified values ​​(for example, approximately 1); all or part of the contour point is not obscured by another object; the moving distance is greater than a specified distance (for example, a threshold distance); and the speed of the second object 713 is greater than a specified speed (for example, a threshold speed).

[0120] Figure 8 An embodiment of an operation flow chart of an object recognition device assigning a first boundary object feature and a second boundary object feature to an object in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown.

[0121] In the following, it is assumed Figure 1 The object recognition device 101 performs Figure 8 Additionally or alternatively, in Figure 8 In the description of , operations described as being performed by a device may be understood to be controlled by the processor 105 of the object recognition device 101 .

[0122] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0123] refer to Figure 8 In a first operation 801, the processor of the object recognition device according to the embodiment may determine whether the minimum x-axis coordinate value is within a specified range. If the minimum x-axis coordinate value is within the specified range, the processor of the object recognition device may perform a second operation 803. If the minimum x-axis coordinate value is outside the specified range, the processor of the object recognition device may perform a third operation 805. The specified range may include a range greater than or equal to about 0 m and less than or equal to about 2 m.

[0124] In a third operation 805 , the processor of the object recognition device according to an embodiment may assign a value of 0 to the first boundary object feature and another designated value to the second boundary object feature. The other designated value may include approximately 0.

[0125] Because the minimum coordinate value is not included in the specified range, the processor of the object recognition device may assign a value different from the value specified for the first boundary object feature of the object (e.g., approximately 0). Because the object does exist in the first frame, which is a previous frame of the specific frame, and / or the maximum x-axis coordinate value is not included in approximately 2 m, the processor of the object recognition device may assign a value different from the value specified for the second boundary object feature of the object (e.g., approximately 0).

[0126] In the second operation 803, the processor of the object recognition device according to the embodiment may determine whether the object exists in the first frame and whether the maximum x-axis coordinate value is within the specified range. If the object does not exist in the first frame and the maximum x-axis coordinate value is within the specified range, the processor of the object recognition device may perform a fourth operation 807. If the object exists in the first frame, or the maximum x-axis coordinate value is outside the specified range, the processor of the object recognition device may perform a fifth operation 809.

[0127] If the minimum x-axis coordinate value is within the specified range, the processor of the object recognition device may assign a specified value (eg, approximately 1) to the first boundary object feature of the object.

[0128] In a fifth operation 809 , the processor of the object recognition apparatus according to an embodiment may assign a specified value to the first boundary object feature, and assign a second boundary object feature value assigned to the object in the first frame to the second boundary object feature.

[0129] Even if the object exists in the first frame or the maximum x-axis coordinate value is outside the specified range, the processor of the object recognition device may again determine whether to assign a specified value (eg, approximately 1) to the second boundary object feature.

[0130] If the second boundary object feature of the object in the first frame is a value different from the specified value (e.g., about 0), the processor of the object recognition device may assign a different value (e.g., about 0) to the second boundary object feature of the object in the specific frame. If the second boundary object feature of the object in the first frame is a specified value (e.g., about 1), the processor of the object recognition device may assign the specified value (e.g., about 1) to the second boundary object feature of the object in the specific frame.

[0131] In a fourth operation 807 , the processor of the object recognition apparatus according to an embodiment may assign a designated value to the first boundary object feature and assign a designated value to the second boundary object feature.

[0132] The processor of the object recognition device can assign a reliability value to the object based on a determination of at least one of the following or any combination of these items: a first boundary object feature value assigned to the object in a particular frame and a second boundary object feature value assigned to the object in a particular frame are specified values; all or part of the contour point is not blocked by another object; the moving distance is greater than a specified distance; and the speed of the object is greater than a specified speed.

[0133] Fig. 9 An embodiment of determining whether an object located in a lane spaced apart from a lane in which a host vehicle is located appears in a designated area in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown.

[0134] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0135] Reference Fig. 9 In the first frame 901, the object recognition device included in the main vehicle 903 may determine that the first object 905 appears in the first boundary area 907, and it is difficult to determine the moving distance of the first object 905. In the second frame 911, the object recognition device included in the main vehicle 903 may determine that the second object 913 appears in the second boundary area 915 and determine the moving distance of the second object 913.

[0136] According to an embodiment, the processor of the object recognition device may determine that the y-axis coordinate (e.g., horizontal coordinate) of the point corresponding to the object (e.g., the first object 905 included in the first frame 901, or the second object 913 included in the second frame 911) falls within a specified y-axis range (e.g., horizontal range). The specified y-axis range may include a specified number of lanes on both sides of the lane where the main vehicle 903 is located. The processor of the object recognition device may assign a reliability value to the object based on the y-axis coordinate of the point corresponding to the object being within the y-axis range. In other words, the processor of the object recognition device may assign a reliability value to the object based on the determination of at least one of the following items or any combination of these items: the y-axis coordinate falls within the specified y-axis range, at least one of the minimum x-axis coordinate (e.g., the minimum value of the vertical coordinate) and the maximum x-axis coordinate (e.g., the maximum value of the vertical coordinate) of the object falls within the specified range, the object does not exist in the previous frame, all or part of the contour point is not blocked or blocked by another object, the moving distance of the object is greater than the specified distance (e.g., the threshold distance), and the speed of the object is greater than the specified speed (e.g., the threshold speed).

[0137] According to an embodiment, the processor of the object recognition device may determine that the y-axis coordinate of the point corresponding to the first object 905 falls within a specified y-axis range. The specified y-axis range may include a specified number (e.g., about one, two, or more) of lanes on both sides of the lane where the host vehicle 903 is located.

[0138] The processor of the object recognition device may determine that the y-axis coordinate of the point corresponding to the first object 905 falls within a specified y-axis range, at least one of the minimum x-axis coordinate and the maximum x-axis coordinate of the first object 905 falls within a specified range (e.g., a range of points whose x-axis coordinates are greater than or equal to about 0 m and less than about 2 m), the first object 905 does not exist in a frame before the first frame 901 (e.g., another frame before the first frame 901), and all or part of the contour points of the first object 905 are not blocked or occluded by another object. The specified area may refer to the first boundary area 907.

[0139] It should be noted that the processor of the object recognition device cannot determine whether the moving distance of the first object 905 is greater than a specified distance (e.g., a threshold distance) because the first object 905 does not exist or does not exist in a previous frame (e.g., one or more frames before the first frame 901). Therefore, the processor of the object recognition device may not assign a reliability value according to the boundary object information to the first object 905 in the first frame 901. The boundary object information may be referred to as a non-blocking or non-occluding FoV object, but embodiments of the present disclosure may not be limited thereto.

[0140] According to an embodiment, in the second frame 911, the processor of the object recognition device may determine that the y-axis coordinate (e.g., horizontal coordinate value) of the point corresponding to the second object 913 falls within a specified y-axis range. The specified y-axis range may include a specified number (e.g., about one, two, or more) of lanes on both sides of the lane where the main vehicle 903 is located. Since the processor of the object recognition device recognizes or determines that the first object 905 in the first frame 901 is the same as the second object 913 in the second frame 911 (which is a frame after the first frame 901), the processor of the object recognition device may determine the age value of the second object 913 to be older than the age value of the first object 901 (e.g., one), for example, two.

[0141] The processor of the object recognition device may determine that the first object 905 in the first frame 901 matches the second object 913 in the second frame 911 after the first frame 901. In the first frame 901, the processor of the object recognition device may not be able to determine the movement distance of the first object 905 and therefore may not assign a reliability value, but the first object 905 in the first frame 901 may have a designated value (e.g., a common value or the same value) as the first boundary object feature value and the second boundary object feature value.

[0142] Thus, the processor of the object recognition device may determine the designated value (eg, common value) as the second boundary object feature value of the second object 913 in the second frame 911 .

[0143] Thus, in the second frame 911, the processor of the object recognition device can assign a reliability value based on the boundary object information to the second object 913 included in the second frame 911 (which can be an example of a specific frame) based on the determination of at least one of the following items or any combination of these items: the y-axis coordinate of the point corresponding to the second object 913 falls within a specified y-axis range; in the second frame 911, the first boundary object feature value assigned to the second object 913 and the second boundary object feature value assigned to the second object 913 are specified values; all or part of the contour point is not blocked by another object; the moving distance is greater than the specified distance; and the speed of the second object 913 is greater than a specified speed (for example, a threshold speed).

[0144] Fig.10 An embodiment of an operation flow chart of an object recognition device assigning a reliability value to an object in an object recognition device or an object recognition method according to an embodiment of the present disclosure is shown.

[0145] In the following, it is assumed Figure 1 The object recognition device 101 performs Fig.10 Additionally or alternatively, in Fig.10 In the description of , operations described as being performed by a device may be understood to be controlled by the processor 105 of the object recognition device 101 .

[0146] Reference Fig.10 In a first operation 1001, a processor of an object recognition apparatus according to an embodiment may determine contour points recognized in a plane formed by a first axis and a second axis.

[0147] The processor of the object recognition device can determine the contour points that are recognized in the plane formed by the first axis and the second axis among the first axis, the second axis and the third axis and are included in the object frame representing the object. The first axis can include the x-axis. The second axis can include the y-axis. The third axis can include the z-axis.

[0148] In a second operation 1003 , according to an embodiment, the processor of the object recognition device may determine whether the minimum first-axis coordinate falls within a specified range, or whether the maximum first-axis coordinate falls within a specified range.

[0149] In a third operation 1005 , according to an embodiment, the processor of the object recognition device may determine whether the object does not exist in a first frame before a specific frame.

[0150] In a fourth operation 1007 , according to an embodiment, the processor of the object recognition device may determine whether all or part of the contour point is not blocked by another object.

[0151] In a fifth operation 1009 , according to an embodiment, the processor of the object recognition device may determine whether a moving distance of the object is greater than a designated distance.

[0152] In the sixth operation 1011, according to an embodiment, the processor of the object recognition device may assign a reliability value to the object. The processor of the object recognition device may determine whether the object is a moving object or an object capable of being in a moving state based on the reliability value.

[0153] Fig.11 An embodiment of a computing system related to an object recognition device and an object recognition method according to an embodiment of the present disclosure is shown.

[0154] Reference Fig.11 , the computing system 1100 may include at least one processor 1110 , a memory 1130 , a user interface input device 1140 , a user interface output device 1150 , a storage device 1160 , and a network interface 1170 connected to each other via a bus 1120 .

[0155] The processor 1110 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1130 and / or the storage device 1160. The memory 1130 and the storage device 1160 may include various types of volatile or non-volatile storage media. For example, the memory 1130 may include a ROM (Read Only Memory) 1131 and a RAM (Random Access Memory) 1132.

[0156] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed herein may be directly embodied in a hardware or software module, or a combination thereof, executed by the processor 1110. The software module may reside on a storage medium (i.e., memory 1130 and / or storage device 1160) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, and CD-ROM.

[0157] An exemplary storage medium may be coupled to the processor 1110, and the processor 1110 may read information from the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor 1110. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor 1100 and the storage medium may reside in a user terminal as separate components.

[0158] The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while keeping the advantages achieved by the prior art intact.

[0159] Embodiments of the present disclosure provide an object recognition apparatus and method for determining whether an object is a moving object or an object capable of being in a moving state.

[0160] Another embodiment of the present disclosure provides an object recognition apparatus and method for determining whether an object appearing in a designated range is a moving object or an object capable of being in a moving state.

[0161] Another embodiment of the present disclosure provides an object recognition apparatus and method for improving the accuracy of determining whether an object located within a specified range is a moving object or an object capable of being in a moving state.

[0162] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0163] According to an embodiment of the present disclosure, an object recognition device includes a LIDAR and a processor.

[0164] According to an embodiment, the processor may determine a contour point that is identified in a plane formed by a first axis and a second axis among the first axis, the second axis, and the third axis in a specific frame and is included in an object frame representing an object; determine whether a minimum first-axis coordinate that is a minimum value of the first-axis coordinates of the contour point falls within a specified range, or whether a maximum first-axis coordinate that is a maximum value of the first-axis coordinates of the contour point falls within the specified range; determine whether the object does not exist in a first frame before a specific frame; determine whether all or part of the contour point is not obscured by another object different from the object; determine whether a moving distance of the object between a specific frame and a second frame after the specific frame is greater than a specified distance or whether a speed of the object is greater than a specified speed; assign a reliability value to the object based on a determination of at least one of the following items or any combination of these items: the minimum first-axis coordinate and the maximum first-axis coordinate fall within a specified range, the object does not exist in the first frame, all or part of the contour point is not obscured by another object, the moving distance is greater than a specified distance, and the speed of the object is greater than a specified speed; and determine based on the reliability value that the object is a moving object or an object capable of being in a moving state.

[0165] According to an embodiment, the processor may determine whether the minimum first-axis coordinate falls within a specified range, and determine whether the maximum first-axis coordinate falls within the specified range based on the determination that the minimum first-axis coordinate falls within the specified range.

[0166] According to an embodiment, the processor may assign a first boundary object feature value as a specified value to an object based on a minimum first-axis coordinate falling within a specified range; assign a second boundary object feature value as a specified value to the object based on the object not being present in the first frame and the maximum first-axis coordinate falling within the specified range; assign a second boundary object feature value assigned to the object in the first frame to the object based on the assigned first boundary object feature value being the specified value, the object being present in the first frame, or the maximum first-axis coordinate not falling within the specified range; and assign a reliability value to an object included in a specific frame based on a determination of at least one of the following items or any combination of these items: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are specified values, all or part of the contour point is not occluded by another object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0167] According to an embodiment, the processor may identify a relative movement distance of an object relative to a host vehicle based on a difference between a position of a point corresponding to the object in a particular frame and a position of a point corresponding to the object in a second frame, determine the movement distance based on a sum of a movement distance of the host vehicle and the relative movement distance of the object, and allow a point corresponding to the object in the particular frame to be matched with a point corresponding to the object in the second frame.

[0168] According to an embodiment, the processor may determine a center point included in a frontmost line segment in a moving direction of the object among line segments constituting the object frame as a point corresponding to the object, or determine another point included in the line segment as a point corresponding to the object.

[0169] According to an embodiment, the value of the first-axis coordinate of the point included in the specified range can be between: the value of the first-axis coordinate of the point corresponding to the main vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate of the point corresponding to the main vehicle by a threshold distance in the direction of the first axis.

[0170] According to an embodiment, the processor may determine that the second-axis coordinate of a point corresponding to the object falls within a specified second-axis range, and assign a reliability value to the object based on a determination of at least one of the following items or any combination of these items: the second-axis coordinate falls within the specified second-axis range, the minimum first-axis coordinate and the maximum first-axis coordinate fall within the specified range, the object does not exist in the first frame, all or part of the contour point is not occluded by another object, the moving distance is greater than a specified distance, and the speed of the object is greater than a specified speed.

[0171] According to an embodiment, the processor may determine whether the second-axis coordinate of the point corresponding to the object is within a second-axis range, which includes a specified number of lanes on both sides of the lane where the main vehicle is located, and assign a reliability value to the object based on the second-axis coordinate of the point corresponding to the object being within the second-axis range.

[0172] According to an embodiment, the processor may assign an identifier indicating that the object is a moving object or an object capable of being in a moving state to the object based on determination that the object is a moving object or an object capable of being in a moving state.

[0173] According to an embodiment, the specified speed may indicate a threshold value for determining whether the object is a moving object or an object capable of being in a moving state based on whether the minimum first-axis coordinate of the object or the maximum first-axis coordinate of the object is included in the specified range. The value of the first-axis coordinate of the point included in the specified range may be between: the value of the first-axis coordinate of the point corresponding to the host vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate of the point corresponding to the host vehicle by a threshold distance in the direction of the first axis.

[0174] According to an embodiment of the present disclosure, an object recognition method includes: determining a contour point that is recognized in a plane formed by a first axis and a second axis among a first axis, a second axis, and a third axis in a specific frame and is included in an object frame representing an object; determining whether a minimum first-axis coordinate that is a minimum value of the first-axis coordinates of the contour point falls within a specified range or whether a maximum first-axis coordinate that is a maximum value of the first-axis coordinates of the contour point falls within the specified range; determining whether the object does not exist in a first frame before the specific frame; determining whether all or part of the contour point is not blocked by another object different from the object; determining whether a moving distance of the object between a specific frame and a second frame after the specific frame is greater than a specified distance or whether a speed of the object is greater than a specified speed; assigning a reliability value to the object based on a determination of at least one of the following items or any combination of these items: the minimum first-axis coordinate and the maximum first-axis coordinate fall within the specified range, the object does not exist in the first frame, the whole or part of the contour point is not blocked by another object, the moving distance is greater than a specified distance, and the speed of the object is greater than a specified speed; and determining based on the reliability value that the object is a moving object or an object that can be in a moving state.

[0175] According to an embodiment, determining whether the minimum first-axis coordinate, which is the minimum value of the first-axis coordinate of a contour point, falls within a specified range or whether the maximum first-axis coordinate, which is the maximum value of the first-axis coordinate of a contour point, falls within a specified range may include: determining whether the minimum first-axis coordinate falls within the specified range, and determining whether the maximum first-axis coordinate falls within the specified range based on the determination that the minimum first-axis coordinate falls within the specified range.

[0176] According to an embodiment, the object recognition method may further include: assigning a first boundary object feature value as a specified value to the object based on the minimum first-axis coordinate falling within a specified range; assigning a second boundary object feature value as a specified value to the object based on the object not existing in the first frame or the maximum first-axis coordinate falling within the specified range; assigning a second boundary object feature value assigned to the object in the first frame to the object based on the assigned first boundary object feature value being the specified value, the object existing in the first frame, or the maximum first-axis coordinate not falling within the specified range; and assigning a reliability value to the object included in a specific frame based on determining at least one of the following items or any combination of these items: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are specified values, all or part of the contour point is not obscured by another object, the moving distance is greater than the specified distance, and the speed of the object is greater than the specified speed.

[0177] According to an embodiment, determining whether a moving distance of an object between a specific frame and a second frame after the specific frame is greater than a specified distance or whether a speed of the object is greater than a specified speed may include: determining a relative moving distance of the object relative to a main vehicle based on a difference between a position of a point corresponding to the object in the specific frame and a position of a point corresponding to the object in the second frame; determining the moving distance based on a sum of a moving distance of the main vehicle and the relative moving distance of the object; and allowing a point corresponding to the object in the specific frame to be matched with a point corresponding to the object in the second frame.

[0178] According to an embodiment, determining whether the moving distance of an object between a specific frame and a second frame after the specific frame is greater than a specified distance or whether the speed of the object is greater than a specified speed may include: determining a center point contained in the frontmost line segment in the moving direction of the object among the line segments constituting the object frame as a point corresponding to the object, or determining another point contained in the line segment as a point corresponding to the object.

[0179] According to an embodiment, the value of the first-axis coordinate of the point included in the specified range can be between: the value of the first-axis coordinate of the point corresponding to the main vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate of the point corresponding to the main vehicle by a threshold distance in the direction of the first axis.

[0180] According to an embodiment, the object recognition method may further include: determining that the second-axis coordinate of a point corresponding to the object falls within a specified second-axis range, and assigning a reliability value to the object based on a determination of at least one of the following items or any combination of these items: the second-axis coordinate falls within the specified second-axis range, at least one of the minimum first-axis coordinate and the maximum first-axis coordinate falls within the specified range, the object does not exist in the first frame, all or part of the contour point is not obscured by another object, the moving distance is greater than a specified distance, and the speed of the object is greater than a specified speed.

[0181] According to an embodiment, the object recognition method may further include: determining whether the second-axis coordinate of the point corresponding to the object is located in a second-axis range, the second-axis range including a specified number of lanes on both sides of the lane where the main vehicle is located; and assigning a reliability value to the object based on that the second-axis coordinate of the point corresponding to the object is within the second-axis range.

[0182] According to an embodiment, the object recognition method may further include assigning an identifier indicating that the object is a mobile object or an object capable of being in a mobile state to the object based on a determination that the object is a mobile object or an object capable of being in a mobile state.

[0183] According to an embodiment, the specified speed may indicate a threshold value for determining whether the object is a moving object or an object capable of being in a moving state based on whether the minimum first-axis coordinate of the object or the maximum first-axis coordinate of the object is included in the specified range. The value of the first-axis coordinate of the point included in the specified range may be between: the value of the first-axis coordinate of the point corresponding to the host vehicle and the value of the first-axis coordinate that is separated from the first-axis coordinate of the point corresponding to the host vehicle by a threshold distance in the direction of the first axis.

[0184] The above description is merely an illustration of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure belongs may make various modifications and changes without departing from the essential characteristics of the present disclosure.

[0185] Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical concept of the present disclosure, but are used to describe the present disclosure, and the scope of the technical concept of the present disclosure is not limited by the embodiments. The protection scope of the present disclosure should be interpreted by the attached claims, and all technical concepts within the scope equivalent thereto should be interpreted as included within the scope of the present disclosure.

[0186] The present technology can improve the accuracy of determining whether an object is a moving object or an object capable of being in a moving state by determining whether the object is present within a specified range.

[0187] The present technology can determine whether an object whose partial shape is recognized is a moving object or an object capable of being in a moving state by determining whether the object appears within a specified range.

[0188] Furthermore, the present technology may enhance user experience by improving the accuracy of determining whether an object is a moving object or an object capable of being in a moving state.

[0189] Furthermore, the present technology can improve the performance of autonomous driving or driver assistance device driving by improving the accuracy of determining whether an object is a moving object or an object capable of being in a moving state.

[0190] Furthermore, various effects directly or indirectly understood through the present disclosure can be provided.

[0191] Although the present disclosure has been described above with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

Claims

1. A device for identifying an object, comprising: sensor; as well as processor, Wherein, the processor is configured to: determining contour points identified in a plane in a particular frame and included in an object frame representing an object, wherein the plane is formed by a first axis and a second axis, the first axis corresponding to a direction of movement of the sensor, and the second axis is perpendicular to the first axis; Determine whether the minimum value of the first axis coordinate of the contour point is within a first axis range, or whether the maximum value of the first axis coordinate of the contour point is within the first axis range; determining whether the object does not exist in a first frame before the specific frame; determining whether all or part of the contour points are not occluded by another object different from the object; determining whether a moving distance of the object between the specific frame and a second frame after the specific frame is greater than a specified distance, or whether a speed of the object is greater than a specified speed; Assigning a reliability value to the object in the particular frame based on at least one of: The minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate are within the first-axis range, The object does not exist in the first frame, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance, and The speed of the object is greater than the specified speed; Based on the reliability value, determining that the object is moving or capable of moving; and A signal is output indicating that the object is moving or capable of moving.

2. The device according to claim 1, wherein: The processor is configured to: determining whether the minimum value of the first-axis coordinate is within the first-axis range; and Based on a determination that the minimum value of the first-axis coordinate is within the first-axis range, it is determined whether the maximum value of the first-axis coordinate is within the first-axis range.

3. The device according to claim 1, wherein: The processor is configured to: assigning a first boundary object feature value as a specified value to the object in the specific frame based on the minimum value of the first axis coordinate being within the first axis range; assigning a second boundary object feature value as the specified value to the object in the specific frame based on the object not existing in the first frame and the maximum value of the first axis coordinate being within the first axis range; Assigning a second boundary object feature value assigned to the object in the first frame to the object in the specific frame based on any one of the following: The assigned first boundary object feature value is the specified value, The object exists in the first frame, and The maximum value of the first-axis coordinate does not fall within the first-axis range; and Assigning the reliability value to the object included in the specific frame based on at least one of: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are the specified values, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance; and The speed of the object is greater than the specified speed.

4. The device according to claim 1, wherein: The processor is configured to: determining a relative movement distance of the object with respect to the vehicle based on a difference between a position of a point corresponding to the object in the specific frame and a position of a point corresponding to the object in the second frame; determining the moving distance of the object based on a sum of the moving distance of the vehicle between the specific frame and the second frame and the relative moving distance of the object; as well as The point corresponding to the object in the particular frame is matched with the point corresponding to the object in the second frame.

5. The device according to claim 4, wherein: The processor is configured to: The center point of the line segment that is the frontmost line segment in the moving direction of the object among the line segments constituting the object frame is determined as the point corresponding to the object, or Another point included in the foremost line segment is determined as the point corresponding to the object.

6. The device according to claim 1, wherein: The values ​​of the first axis coordinates included in the first axis range are between the following values: the value of the first axis coordinate of the point corresponding to the vehicle, and A value of a first-axis coordinate that is a threshold distance away from the first-axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

7. The device according to claim 1, wherein: The processor is configured to: determining a second-axis coordinate of a point corresponding to the object within a second-axis range; and Assigning the reliability value to the object in the particular frame based on at least one of: The second axis coordinate is within the second axis range, At least one of the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate is within the first-axis range, The object does not exist in the first frame, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance, and The speed of the object is greater than the specified speed.

8. The device according to claim 1, wherein: The processor is configured to: determining whether a second-axis coordinate of a point corresponding to the object is within a second-axis range that includes a specified number of lanes on both sides of a lane in which the vehicle is located; and The reliability value is assigned to the object based on the second-axis coordinate of the point corresponding to the object being within the second-axis range.

9. The device according to claim 1, wherein: The processor is configured to assign, based on a determination that the object is moving or is capable of moving, an identifier to the object indicating that the object is moving or is capable of moving.

10. The device according to claim 1, wherein: The specified speed indicates a threshold value for determining whether the object is moving or capable of moving based on a minimum first-axis coordinate value of the object or a maximum first-axis coordinate value of the object included in the first-axis range, and The values ​​of the first axis coordinates included in the first axis range are between the following values: the value of the first axis coordinate of the point corresponding to the vehicle, and A value of a first-axis coordinate that is a threshold distance away from the first-axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

11. A method for identifying an object executed by a processor, the method comprising: determining contour points identified in a plane in a particular frame and included in an object frame representing the object, wherein the plane is formed by a first axis and a second axis, the first axis corresponding to a direction of movement of the sensor, and the second axis is perpendicular to the first axis; Determine whether a minimum value of the first axis coordinate of the contour point is within a first axis range, or whether a maximum value of the first axis coordinate of the contour point is within the first axis range; determining whether the object does not exist in a first frame before the specific frame; determining whether all or part of the contour points are not occluded by another object different from the object; determining whether a moving distance of the object between the specific frame and a second frame after the specific frame is greater than a specified distance or whether a speed of the object is greater than a specified speed; Assigning a reliability value to the object in the particular frame based on at least one of: The minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate are within the first-axis range, The object does not exist in the first frame, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance, and The speed of the object is greater than the specified speed; Based on the reliability value, determining that the object is moving or capable of moving; and Outputs a signal indicating that the object is moving or capable of moving.

12. The method according to claim 11, wherein: Determining whether the maximum value is within the first axis range includes: determining whether the minimum value of the first-axis coordinate is within the first-axis range; and Based on a determination that the minimum value of the first-axis coordinate is within the first-axis range, it is determined whether the maximum value of the first-axis coordinate is within the first-axis range.

13. The method according to claim 11, further comprising: assigning a first boundary object feature value as a specified value to the object in the specific frame based on a minimum value of the first axis coordinate being within the first axis range; assigning a second boundary object feature value as the specified value to the object in the specific frame based on the object not existing in the first frame and the maximum value of the first axis coordinate being within the first axis range; Assigning the second boundary object feature value assigned to the object in the first frame to the object in the specific frame based on any one of the following: The assigned first boundary object feature value is the specified value, The object exists in the first frame, and The maximum value of the first-axis coordinate does not fall within the first-axis range; and Assigning the reliability value to the object included in the specific frame based on at least one of: the first boundary object feature value assigned to the object in the specific frame and the second boundary object feature value assigned to the object in the specific frame are the specified values, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance; and The speed of the object is greater than the specified speed.

14. The method according to claim 11, wherein: Determining whether the moving distance of the object between the specific frame and a second frame after the specific frame is greater than the specified distance or whether the speed of the object is greater than the specified speed includes: determining a relative movement distance of the object with respect to the vehicle based on a difference between a position of a point corresponding to the object in the specific frame and a position of a point corresponding to the object in the second frame; determining the moving distance of the object based on a sum of the moving distance of the vehicle between the specific frame and the second frame and the relative moving distance of the object; and The point corresponding to the object in the particular frame is matched with the point corresponding to the object in the second frame.

15. The method according to claim 14, wherein: Determining whether the moving distance of the object between the specific frame and a second frame after the specific frame is greater than the specified distance or whether the speed of the object is greater than the specified speed includes: The center point of the line segment that is the frontmost line segment in the moving direction of the object among the line segments constituting the object frame is determined as the point corresponding to the object, or Another point included in the foremost line segment is determined as the point corresponding to the object.

16. The method according to claim 11, wherein: The values ​​of the first axis coordinates included in the first axis range are between the following values: the value of the first axis coordinate of the point corresponding to the vehicle, and A value of a first-axis coordinate that is a threshold distance away from the first-axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

17. The method according to claim 11, further comprising: determining a second-axis coordinate of a point corresponding to the object within a second-axis range; as well as Assigning the reliability value to the object in the particular frame based on at least one of: The second axis coordinate is within the second axis range, At least one of the minimum value of the first-axis coordinate and the maximum value of the first-axis coordinate is within the first-axis range, The object does not exist in the first frame, All or part of the contour points are not blocked by the other object, The moving distance is greater than the specified distance, and The speed of the object is greater than the specified speed.

18. The method according to claim 11, further comprising: determining whether a second-axis coordinate of a point corresponding to the object is within a second-axis range that includes a specified number of lanes on both sides of a lane in which the vehicle is located; as well as The reliability value is assigned to the object based on the second-axis coordinate of the point corresponding to the object being within the second-axis range.

19. The method according to claim 11, further comprising: Based on a determination that the object is moving or capable of moving, an identifier is assigned to the object indicating that the object is moving or capable of moving.

20. The method according to claim 11, wherein: The specified speed indicates a threshold value for determining whether the object is moving or capable of moving based on a minimum first-axis coordinate value of the object or a maximum first-axis coordinate value of the object included in the first-axis range, and The values ​​of the first axis coordinates included in the first axis range are between the following values: the value of the first axis coordinate of the point corresponding to the vehicle, and A value of a first-axis coordinate that is a threshold distance away from the first-axis coordinate corresponding to the point of the vehicle in a direction of the first axis.

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