Object display device and method thereof

Abstract

An object display apparatus and a method thereof are provided. An object display device includes a sensor, such as a light detection and ranging (LiDAR) device, and a processor. The processor determines an object located in front of the vehicle based on contour points in a first frame obtained via the sensor at a first time, determines at least one of lane information, longitudinal position information, lateral position information, classification information, number information, and size information, determines whether the object is included in a first group of a plurality of groups, and determines whether the object is included in a second group of the plurality of groups. At least one other object included in the first group is sorted, a priority of an object among all objects identified in the first frame is determined based on a priority of the first group and a result of the sorting, and the object is selected as a display target in the second frame.

Description

[0001] Related Applications

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0117176 filed in the Korean Intellectual Property Office on September 4, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an object display device and method thereof, and more particularly, to selecting a display target using a light detection and ranging (LiDAR) device. Background Art

[0004] An autonomous vehicle or a vehicle in which driving assistance is activated can use sensors to identify the surrounding environment and obstacles to ensure stable driving and determine a path. In particular, since the accuracy of data obtained using LiDAR is greater than the accuracy of data obtained using a radio detection and ranging (RADAR) device, many studies have been conducted to improve methods of identifying surrounding objects using LiDAR.

[0005] The vehicle can obtain data representing the location of objects around the vehicle through LiDAR. The LiDAR can measure the distance between the LiDAR and the object based on the time interval between emitting laser light and receiving laser light reflected from the object. The vehicle can identify the location of a point on the surface of the object within the three-dimensional space occupied by the vehicle based on the angle of the emitted laser light and the distance to the object.

[0006] The autonomous vehicle or the vehicle in which the driving assistance is activated can identify information about the object indicated by the obtained points based on the motion information of the points. Specifically, identifying whether the object is an object in a moving state (e.g., a mobile object), an object capable of being in a moving state (e.g., a movable stationary object), or an object that cannot be in a moving state (e.g., an immovable stationary object) can help ensure the stability and quality of autonomous driving or driving assistance and reduce the risk of accidents. Summary of the invention

[0007] 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.

[0008] An aspect of the present disclosure provides an object display apparatus for selecting a display target after obtaining a code indicating a specified error and a method thereof.

[0009] An aspect of the present disclosure provides an object display apparatus and method thereof for identifying whether an object is included in any group of a plurality of groups divided according to importance of the object to identify whether the object is selected as a display target.

[0010] An aspect of the present disclosure provides an object display apparatus and method thereof for changing a criterion for selecting an object as a display target according to a curvature of a path on which a host vehicle travels.

[0011] 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.

[0012] According to one or more exemplary embodiments of the present disclosure, an object display device may include: a sensor; and a processor. The processor may be configured to determine an object located in front of a vehicle based on a contour point in a first frame obtained via the sensor at a first time and further based on a code indicating an error obtained at a second time later than the first time; determine information indicating at least one of the following items: a lane where the object is located, a longitudinal component of a distance between the object and the vehicle, a lateral component of the distance, a classification of the object, a number of contour points included in a portion of an object frame indicating the object, and a size of the object frame; determine whether the object is included in a first group of a plurality of groups divided according to importance of the object based on the information; sort the object and at least one other object included in the first group based on the longitudinal component; determine the priority of the object among all objects identified in the first frame based on the priority of the first group and the result of sorting the object; and select the object as a display target in a second frame obtained at a third time later than the second time based on determining that the priority of the object is greater than a specified priority.

[0013] The processor may be configured to determine whether the object is included in the first group by: determining coordinates of a point corresponding to the vehicle; obtaining an indication of a curvature of a path on which the vehicle is traveling; determining whether the longitudinal component is less than a threshold; and further determining whether the object is included in the first group based on the longitudinal component being less than the threshold. The threshold may be one of: a first value based on the curvature being greater than or equal to a specified curvature value, and a second value greater than the first value based on the curvature being less than the specified curvature value.

[0014] The processor may be further configured to: determine the coordinates of a point corresponding to the vehicle; sort a second object having a first longitudinal position value among the second object and at least one other object included in the first group by assigning a first priority to the second object; and sort a third object having a second longitudinal position value less than the first longitudinal position value by assigning a second priority greater than the first priority to the third object.

[0015] The code may indicate that a point cloud for generating contour points was not obtained within a specified time window.

[0016] The lane may be a first lane. The processor may be further configured to: assign a first priority to a second group including a second object associated with the second lane; and assign a second priority greater than the first priority to a third group including a third object associated with the third lane. A distance between the first lane and the second lane may be greater than a distance between the first lane and the third lane.

[0017] The processor may be further configured to select all objects included in the first group as display targets in the second frame based on a determination that the priority of the first group is greater than the priority of the designated group.

[0018] The processor may be further configured to determine a speed of the vehicle. The assigned priority and the speed of the vehicle may have an inverse correlation.

[0019] The processor may be configured to select the object as a display target in the following manner: selecting the object as a display target in the second frame is further based on: a classification that the object is one of a pedestrian and a leading vehicle, and the vehicle is located in the lane or a second lane adjacent to the lane.

[0020] The processor may be configured to select the object as a display target by: obtaining a signal from a map system indicating that the vehicle is located in an area that is not a road; determining that the classification of the object is a pedestrian; and further based on the signal and the determination that the classification of the object is a pedestrian, selecting the object as a display target in a second frame.

[0021] The processor may be configured to determine whether the object is included in the first group by further determining whether the object is included in the first group based on a length of a longer one of a longitudinal section of the object frame and a transverse section of the object frame being greater than a threshold length.

[0022] According to one or more exemplary embodiments, an object display method may include: determining an object located in front of a vehicle based on contour points in a first frame obtained via a sensor at a first time and further based on a code indicating an error obtained at a second time later than the first time; determining information indicating at least one of the following: a lane in which the object is located, a longitudinal component of the distance between the object and the vehicle, a lateral component of the distance, a classification of the object, the number of contour points included in a part of an object frame indicating the object, and a size of the object frame; determining whether the object is included in a first group of a plurality of groups divided according to the importance of the object based on the information; sorting the object included in the first group and at least one other object based on the longitudinal component; determining a priority of the object among all objects identified in the first frame based on the priority of the first group and a result of sorting the objects; and selecting the object as a display target in a second frame obtained at a third time later than the second time based on a determination that the priority of the object is greater than a specified priority.

[0023] Determining whether the object is included in the first group may include: determining coordinates of a point corresponding to the vehicle; obtaining an indication of a curvature of a path on which the vehicle is traveling; determining whether the longitudinal component is less than a threshold; and further determining whether the object is included in the first group based on the longitudinal component being less than the threshold. The threshold may be one of: a first value based on the curvature being greater than or equal to a specified curvature value, and a second value greater than the first value based on the curvature being less than the specified curvature value.

[0024] The object display method may further include: determining the coordinates of a point corresponding to a vehicle; sorting a second object having a first longitudinal position value among a second object and at least one other object included in a first group by assigning a first priority to the second object; and sorting a third object having a second longitudinal position value less than the first longitudinal position value by assigning a second priority greater than the first priority to the third object.

[0025] The code may indicate that a point cloud for generating contour points was not obtained within a specified time window.

[0026] The lane may be a first lane. The method may further include: assigning a first priority to a second group including a second object associated with the second lane; and assigning a second priority greater than the first priority to a third group including a third object associated with the third lane. A distance between the first lane and the second lane may be greater than a distance between the first lane and the third lane.

[0027] The object display method may further include selecting all objects included in the first group as display targets in the second frame based on a determination that the priority of the first group is greater than the priority of the specified group.

[0028] The object display method may further include: determining a speed of the vehicle. The designated priority and the speed of the vehicle may have an inverse correlation.

[0029] Selecting the object as the display target may include: selecting the object as the display target in the second frame further based on: the object is one of a pedestrian and a front vehicle, and the vehicle is located in the lane or a second lane adjacent to the lane.

[0030] Selecting the object as a display target may include: obtaining a signal from a map system indicating that the vehicle is located in an area that is not a road; determining that the classification of the object is a pedestrian; and further based on the signal and the determination that the classification of the object is a pedestrian, selecting the object as a display target in a second frame.

[0031] Determining whether the object is included in the first group may include determining whether the object is included in the first group further based on a length of a longer one of a longitudinal section of the object frame and a transverse section of the object frame being greater than a threshold length.

[0032] Furthermore, various effects directly or indirectly determined by the present disclosure can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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:

[0034] Figure 1 A block diagram of an object display device is shown;

[0035] Figure 2 The operation flow of the object display device for selecting a reference table according to curvature information in the object display device or the object display method is shown;

[0036] Figure 3 A criterion for selecting an object as a display target when curvature information is less than a specified curvature value in an object display device or an object display method is shown;

[0037] Figure 4 In an object display device or an object display method, when curvature information is greater than or equal to a specified curvature value, a criterion for selecting an object as a display target is shown;

[0038] Figure 5 A table indicating a sorting order according to longitudinal position information of an object in an object display device or an object display method is shown;

[0039] Figure 6 An example of selecting an object as a display target according to a priority in an object display device or an object display method is shown;

[0040] Figure 7 An operation flow of an object display device for selecting an object as a display target in an object display device or an object display method is shown;

[0041] Figure 8 An example of an object that changes depending on whether it is a display target according to a designated priority in an object display device or an object display method is shown; and

[0042] Fig. 9 A computing system associated with an object display apparatus or an object display method is shown. DETAILED DESCRIPTION

[0043] Hereinafter, one or more exemplary embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In the drawings, the same reference numerals are used throughout the text to refer to the same or equivalent components. In addition, detailed descriptions of well-known features or functions will be excluded to avoid unnecessarily obscuring the subject matter of the present disclosure.

[0044] When describing the components of one or more exemplary embodiments of the present disclosure, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one component from another component, without limiting the corresponding components, and are not related to the order or priority of the corresponding components. In addition, unless otherwise defined, all terms including technical terms and scientific terms used herein will be interpreted as customary terms in the field to which the present disclosure belongs. It should be understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of the present disclosure and the related art, and shall not be interpreted in an idealized or overly formal sense unless clearly defined in this article.

[0045] The terms “...means”, “...unit”, “...thing”, and “...body” used hereinafter may refer to at least one shape structure or to a unit for processing a function.

[0046] In addition, the expression "greater than" or "less than" is used to determine whether a specific condition is satisfied, but only represents an example and does not exclude the description of "greater than or equal to" or "less than or equal to". A condition described as "greater than or equal to" may be replaced by a condition described as "greater than", a condition described as "less than or equal to" may be replaced by a condition described as "less than", and a condition described as "greater than or equal to and less than" may be replaced by a condition described as "greater than or equal to and less than or equal to". In addition, hereinafter, the expression "A to B" refers to at least one of the elements (including B) from A to B (including A).

[0047] In the following, reference will be made to Figures 1 to 9 One or more exemplary embodiments of the present disclosure are described in detail.

[0048] Figure 1 is a block diagram showing an object display device.

[0049] Reference Figure 1 , the object display device 101 may be implemented in a vehicle. In this case, the object display device 101 for the vehicle may be configured integrally with a control unit in the vehicle, or may be implemented as a separate device connected to the control unit of the vehicle through a separate connection device.

[0050] Reference Figure 1 , the object display device 101 may include a LiDAR 103 and a processor 105 .

[0051] The processor 105 of the object display device 101 may obtain position information about points of objects including those around the vehicle of the object display device 101 with the help of the LiDAR 103. The processor 105 of the object display device 101 may obtain a point cloud indicating a target with the help of the LiDAR 103. The processor 105 of the object display device 101 may identify contour points among the points included in the point cloud.

[0052] The processor 105 of the object display device 101 can identify the position information of the point corresponding to the object based on the contour point indicating the object. For example, the point corresponding to the object may include the center point of the frontmost segment in the forward direction of the object among the segments constituting the object frame including the contour point indicating the object, or may include the center point of the rearmost segment in the forward direction of the object. The center point may be referred to as but not limited to a tracking point. 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.

[0053] The processor 105 of the object display device 101 may fail to obtain a point cloud during a specified time (e.g., within a specific time window). When the point cloud is not obtained during the specified time, the processor 105 of the object display device 101 may obtain a code indicating a specified error. A specific fault may occur based on the specified error. For example, the specified error may cause a worst case execution time (WCET) fault. When the point cloud is not obtained during the specified time (e.g., within a specified time window), a WCET fault may occur.

[0054] Even when a code indicating a specified error is obtained, the processor 105 of the object display device 101 needs to display information about an object recognized in a previous frame (e.g., a data frame, an image frame, etc.) to reduce the risk of an accident and improve user experience. This is because when the processor 105 of the object display device 101 does not display an object located near the host vehicle, an accident may occur because the host vehicle does not recognize the object.

[0055] Reducing the risk of accidents in autonomous driving or driving with driver assistance is more important than reducing the risk of accidents in ordinary driving vehicles. This is because the likelihood that the driver's defense mechanisms can intervene in autonomous driving or driving with driver assistance is less than the likelihood that the driver's defense mechanisms can intervene in ordinary driving when an accident occurs. In addition, increasing the safety of autonomous driving or driving with driver assistance is associated with increasing the reliability of users for autonomous driving or driving with driver assistance.

[0056] Thus, although information about the object is not obtained in a specific frame, the processor 105 of the object display device 101 needs to display information about the object recognized in a previous frame (eg, a data frame, an image frame, etc.).

[0057] However, when the processor 105 of the object display device 101 displays information about all objects recognized in the previous frame in a specific frame after the previous frame, the accuracy of the position of the object may be small. Thus, the processor 105 of the object display device 101 can select only objects whose importance is greater than or equal to the specified importance as display targets.

[0058] In the following, Figure 2 In the following, a description will be given of the contents of a method for identifying priorities according to the importance of objects and selecting objects as display targets according to the priorities of the objects.

[0059] In the following, Figure 3 and Figure 5 In the following, a description will be given of the contents of a method for assigning priorities according to the importance of objects.

[0060] Figure 2 The operating flow of the object display device for selecting a reference table according to curvature information in the object display device or the object display method is shown.

[0061] In the following, it is assumed Figure 1 The object display device 101 performs Figure 2 In addition, Figure 2 In the description of , operations described as being performed by the processor of the object display device may be understood to be controlled by the processor 105 of the object display device 101 .

[0062] Reference Figure 2 In a first operation 201, the processor of the object display device may identify whether the curvature information of the path on which the host vehicle is traveling is greater than or equal to a specified curvature value. When the curvature information of the path on which the host vehicle is traveling is less than the specified curvature value, the processor of the object display device may perform a second operation 203. When the curvature information of the path on which the host vehicle is traveling is greater than or equal to the specified curvature value, the processor of the object display device may perform a third operation 205. The curvature information may indicate the curvature information of the path on which the host vehicle is traveling.

[0063] The processor of the object display device may identify whether the host vehicle is traveling on a straight route or a curved route based on the curvature information.

[0064] In a second operation 203, the processor of the object display device may identify any one of the plurality of groups including the object based on a table indicating a standard according to a straight line route. The table according to the straight line route and the table according to the curved line route may be different from each other.

[0065] The processor of the object display device may identify whether the longitudinal position information indicates a longitudinal position value less than a specified longitudinal position value. The processor of the object display device may identify a group including an object based on that the lane information, the longitudinal position information, the lateral position information, the classification information, the quantity information, and the size information satisfy a specified condition and the longitudinal position value is less than the specified longitudinal position value.

[0066] Based on the curvature information being less than the designated curvature value, the designated longitudinal position value may be identified as a first designated longitudinal position value.

[0067] In a third operation 205 , the processor of the object display device may identify any one group including the object among the plurality of groups based on a table indicating a criterion according to a curve route.

[0068] When performing the second operation 203 , the processor of the object display device may identify a group including an object based on lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information satisfying a specified condition and a longitudinal position value being less than a specified longitudinal position value.

[0069] Based on the curvature information being greater than or equal to the designated curvature value, the designated longitudinal position value may be identified as a second designated longitudinal position value that is less than the first designated longitudinal position value.

[0070] This is because when the curvature information is greater than or equal to the specified curvature value, the error between the position of the object in the first frame before obtaining the code indicating the specified error and the position of the object in the second frame after obtaining the code indicating the specified error may be greater than the error between the position of the object in the first frame and the position of the object in the second frame when the curvature information is less than the specified curvature value.

[0071] In a fourth operation 207, the processor of the object display device may sort the object included in any one group and at least one other object in ascending order or descending order.

[0072] The processor of the object display device may prioritize objects having longitudinal position information closer to the longitudinal position information (e.g., the origin) of the main vehicle among at least one object included in any one group over objects having longitudinal position information farther than the longitudinal position information of the main vehicle.

[0073] In other words, the processor of the object display device may identify the coordinates of the point corresponding to the host vehicle as the origin. The processor of the object display device may sort the objects having the first longitudinal position information indicating the first longitudinal position value between the object and at least one other object included in any one group with a first priority. The processor of the object display device may sort the objects having the second longitudinal position information indicating the second longitudinal position value smaller than the first longitudinal position value with a second priority higher than the first priority.

[0074] In a fifth operation 209, the processor of the object display device may identify a priority of an object among all objects recognized in the first frame based on the priorities of the groups and the sorting result.

[0075] The processor of the object display device may identify the priority of the object among all the objects identified in the first frame based on the priority of the group including the object and the result that the object is classified in the group. For example, when the priority of the group including the object is level 1, and when the objects are sorted in the second order in the group, the priority of the object may be level 2. For example, when the priority of the group including the object is level 2, when the objects are sorted in the third order in the group, and when the number of other objects included in the group of level 1 is 1, the priority of the object may be level 4.

[0076] In a sixth operation 211, the processor of the object display device may select an object as a display target in the second frame based on the designated priority.

[0077] The processor of the object display device may select the object as a display target in a second frame included in the time after obtaining the code indicating the specified error based on recognizing that the priority of the object is higher than the specified priority. The specified priority may refer to a threshold priority of the object to be selected as the display target.

[0078] For example, when the priority of the object is level 4 and when the designated priority is level 3, the level 4 object may not be selected as a display target. For example, when the priority of the object is level 2 and when the designated priority is level 3, the level 2 object may be selected as a display target.

[0079] The processor of the object display device may recognize the speed of the host vehicle and may set the designated priority to decrease as the speed of the host vehicle increases. In other words, the designated priority and the speed of the host vehicle may have a correlation (e.g., an inverse correlation) in which the designated priority decreases as the speed of the host vehicle increases. This is because there is a high possibility of collision with more objects when the host vehicle is fast, and thus more objects need to be displayed.

[0080] The processor of the object display device may identify whether to select the object as the display target based on the priority of the group. Hereinafter, a description will be given of the contents of the priority as a criterion of whether to select the object as the display target.

[0081] The processor of the object display device may select an object identified as a pedestrian, a front vehicle located in a lane where the main vehicle is located, or a front vehicle located in a lane adjacent to the lane where the main vehicle is located as a display target regardless of the priority. In other words, the processor of the object display device may identify that the object is located in the lane where the main vehicle is located or in one of two lanes adjacent to the lane based on the lateral position information, and may identify that the object is classified as one of a pedestrian and a front vehicle based on the classification information. The processor of the object display device may select the object as a display target in the second frame included in the time after the code indicating the specified error is acquired based on the identification that the object is classified as a pedestrian or the identification that the object is classified as a front vehicle located in the lane where the main vehicle is located or in one of two lanes in the adjacent lane. This is because the importance of a pedestrian, a front vehicle located in the lane where the main vehicle is located, or a front vehicle located in a lane adjacent to the lane where the main vehicle is located is greater than the importance of an object identified as a thing other than a pedestrian, a front vehicle located in the lane where the main vehicle is located, or a front vehicle located in a lane adjacent to the lane where the main vehicle is located.

[0082] The processor of the object display device may select a pedestrian as a display target in a section (e.g., an area) that is not a road (e.g., not a highway) without considering the priority. The processor of the object display device may obtain a signal indicating that the host vehicle is located in an area that is not a road. The processor of the object display device may recognize that the object is classified as a pedestrian based on classification information of the object. The processor of the object display device may select the object as a display target in a second frame included in the time after obtaining the code indicating the specified error based on obtaining the signal or recognizing that the object is classified as a pedestrian.

[0083] This is because the importance of an object classified as a pedestrian in an area other than a road is greater than the importance of an object recognized as a thing other than a pedestrian.

[0084] Figure 3 A criterion for selecting an object as a display target when curvature information is smaller than a specified curvature value in an object display device or an object display method is shown.

[0085] Reference Figure 3 In situation 301, the processor of the object display device may identify first object 305, second object 307, third object 309, and fourth object 311 located around host vehicle 303. Table 321 may be referenced to identify whether the object corresponds to a display target in a straight-line driving situation.

[0086] The processor of the object display device may recognize that the host vehicle 303 including the object display device is traveling in a straight line based on curvature information indicating that the curvature of the path on which the host vehicle 303 is traveling is less than a specified curvature value. In the situation 301, the host vehicle 303 may be traveling in a straight line.

[0087] The processor of the object display device can identify whether the object is included in any of a plurality of groups divided according to the importance of the object based on at least one of lane information, longitudinal position information, lateral position information, classification information, quantity information, or size information, or any combination thereof, that satisfies specified conditions.

[0088] The processor of the object display device may identify whether the object is included in any one of the groups based on the longitudinal position information satisfying a prescribed condition.

[0089] The processor of the object display device may identify whether the object is included in any of the groups based on the lane information or the size information satisfying a specified condition.

[0090] Depending on how far the lane including the object is from the lane including the host vehicle, the lane including the object may be identified as what level the lane is. For example, the lane including the host vehicle may be a level 1 lane. Two lanes adjacent to the lane including the host vehicle may be level 2 lanes. A lane separated from the lane including the host vehicle by two lanes may be a level 3 lane. A lane separated from the lane including the host vehicle by two lanes may be a level 4 lane. An area separated from the lane including the host vehicle by three or more lanes may be a level 5 lateral position. The processor of the target display device may not be able to determine which lane an object located at a level 5 lateral position is in.

[0091] For example, first object 305 may be located in a lane including host vehicle 303 (eg, a level 1 lane in scenario 301). Third object 309 may be located in a lane immediately adjacent to the lane including host vehicle 303 (eg, a level 2 lane in scenario 301).

[0092] Thus, since the first object 305 is included in the level 1 lane, and the length of the longer section of the length of the longitudinal section of the object frame including the first object 305 and the length of the lateral section of the object frame is greater than or equal to the specified length (e.g., about 1.5 m), referring to table 321, the first object 305 may be included in group 13. Referring to table 321, the priority of group 13 may be level 1.

[0093] Thus, since the third object 309 is included in the level 2 lane, and the length of the longer segment of the length of the longitudinal segment of the object frame including the third object 309 and the length of the lateral segment of the object frame is greater than or equal to the specified length (e.g., about 1.5 m), referring to table 321, the third object 309 can be included in group 12. Referring to table 321, the priority of group 12 can be level 2.

[0094] The processor of the object display device may identify an object located in a lane close to the lane where the host vehicle 303 is located as included in a group having a higher priority. For example, the processor of the object display device may identify the priority of any group including an object having first lane information indicating a first lane as a first priority. The processor of the object display device may identify the priority of any group including an object having second lane information indicating a second lane as a second priority higher than the first priority. The distance between the first lane and the lane where the host vehicle 303 is located may be greater than the distance between the second lane and the lane where the host vehicle 303 is located.

[0095] The processor of the object display device may identify whether the object is included in any one of the groups based on whether the classification information satisfies a prescribed condition.

[0096] For example, the second object 307 may be located in a lane line (e.g., a level 2 lane in the scenario 301) adjacent to the lane including the host vehicle 303. The processor of the object display device may classify the second object 307 as a pedestrian. Because the second object 307 is classified as a pedestrian, referring to the table 321, the second object 307 may be included in the group 13. Referring to the table 321, the priority of the group 13 may be level 1.

[0097] The processor of the object display device may identify whether the object is included in any one of the groups based on the size information satisfying a prescribed condition.

[0098] For example, since the fourth object 311 is included in the level 1 lane, and the length of the longer section of the length of the longitudinal section of the object frame including the fourth object 311 and the length of the lateral section of the object frame is less than the specified length (e.g., about 1.5 m), referring to table 321, the fourth object 311 may be included in group 13. Referring to table 321, the fourth object 311 may be included in group 9. Referring to table 321, the priority of group 9 may be level 5.

[0099] The processor of the object display device may select the object as a display target based on the priority of the designated group.

[0100] For example, the processor of the object display device may select only objects included in a group having a priority of 1 or more as display targets. A group having a priority of 1 or more (e.g., group 13 in table 321) may include a first object 305 and a second object 307. Thus, in scenario 301, the first object 305 and the second object 307 may be selected as display targets.

[0101] If the object is classified as a pedestrian or is located in a level 1 lane, and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the transverse segment of the object frame is greater than or equal to a specified length (for example, approximately 1.5 m), the processor of the object display device can recognize that the object is included in group 13 with level 1.

[0102] In a case where the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is greater than or equal to approximately 20 m, or when the target is classified as a road boundary or located in a level 2 lane, and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is greater than or equal to a specified length (for example, approximately 1.5 m), the processor of the object display device can recognize that the object is included in group 12 with level 2.

[0103] If the object is identified as a pole located in a level 1 lane or a level 2 lane (eg, a pole of a traffic light or a pole for supporting a road sign), the processor of the object display device may identify that the object is included in group 11 with level 3 .

[0104] If the object is located in a level 3 lane and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is greater than or equal to a specified length (for example, approximately 1.5 m), the processor of the object display device can recognize that the object is included in group 10 with level 4.

[0105] If the object is located in a level 1 lane or a level 2 lane and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is less than a specified length (for example, approximately 1.5m), the processor of the object display device can recognize that the object is included in group 9 with level 5.

[0106] If the object is located in a level 4 lane and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is greater than or equal to a specified length (for example, approximately 2m), the processor of the object display device can recognize that the object is included in group 8 with level 6.

[0107] If the object is located at a horizontal position of level 5 and when the length of the longer segment between the length of the vertical segment of the object frame including the object and the length of the horizontal segment of the object frame is greater than or equal to a specified length (for example, approximately 4m), the processor of the object display device can recognize that the object is included in group 7 with level 7.

[0108] If the object is located at a horizontal position of level 3 and when the length of the longer segment between the length of the vertical segment of the object frame including the object and the length of the horizontal segment of the object frame is less than a specified length (for example, approximately 1.5m), the processor of the object display device can recognize that the object is included in group 6 with level 8.

[0109] If the object is located in a level 4 lane and when the length of the longer segment between the length of the longitudinal segment of the object frame including the object and the length of the lateral segment of the object frame is less than a specified length (for example, approximately 2m), the processor of the object display device may recognize that the object is included in group 5 with level 9.

[0110] If the object is located at a lateral position of level 5 and when the lateral position of the object is within a specified length (eg, approximately 17 m) from the lateral position of the host vehicle, the processor of the object display device may recognize that the object is included in group 4 with level 10 .

[0111] If the object is located at a lateral position of level 5 and when the lateral position of the object exceeds a specified length (e.g., approximately 17m) from the lateral position of the host vehicle or when the lateral position of the object exceeds a specified distance (e.g., approximately 80m), the processor of the object display device can recognize that the object is included in group 3 with level 11.

[0112] If the object is located at a lateral position of level 5 and when the lateral position of the object exceeds a specified length (eg, about 30 m) from the lateral position of the host vehicle, the processor of the object display device may recognize that the object is included in group 2 with level 12 .

[0113] If the object is located in a lane of levels 1 to 4 or at a level 5 lateral position, and when the number of contour points in the object frame is less than 5, the processor of the object display device may recognize that the object is included in group 1 with level 13.

[0114] Figure 4 In an object display device or an object display method, when curvature information is greater than or equal to a specified curvature value, a criterion for selecting an object as a display target is shown. Figure 4In situation 401, the processor of the object display device may identify first object 405, second object 407, third object 409, and fourth object 411 located around host vehicle 403. Table 421 may be referenced to identify whether an object corresponds to a display target in a curved driving situation.

[0115] A table (e.g., Figure 3 321) and a table referred to for selecting a display target in a curved route (e.g., Figure 4 Tables 421) may be different from each other.

[0116] The processor of the object display device may identify whether the longitudinal position information indicates a longitudinal position value less than a specified longitudinal position value. The processor of the object display device may identify a group including the object based on at least one of lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information satisfying a specified condition, or any combination thereof, and the longitudinal position value indicated by the longitudinal position information of the object is less than the specified longitudinal position value.

[0117] Based on the curvature information being less than the specified curvature value, the specified longitudinal position value may be identified as a first specified longitudinal position value (e.g., approximately 80 m from the host vehicle 403). Based on the curvature information being greater than or equal to the specified curvature value, the specified longitudinal position value may be identified as a second specified longitudinal position value less than the first specified longitudinal position value (e.g., approximately 60 m from the host vehicle 403).

[0118] The processor of the object display device may identify a group including the object based on at least one of the lane information, the longitudinal position information, the lateral position information, the classification information, the quantity information, and the size information, or any combination thereof satisfying a specified condition and the longitudinal position value being less than a specified longitudinal position value.

[0119] The processor of the object display device may recognize that the host vehicle 403 including the object display device is traveling on a curve based on curvature information indicating that the curvature of the path on which the host vehicle 403 is traveling is greater than or equal to a specified curvature value. In situation 401, the host vehicle 403 may be traveling on a curve.

[0120] Based on at least one of lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information, or any combination thereof satisfying specified conditions, the processor of the object display device can identify whether the object is included in any of a plurality of groups divided according to the importance of the targets.

[0121] The processor of the object display device may identify whether the object is included in any one group based on the longitudinal position information satisfying a specified condition (eg, a condition that the longitudinal position information of the object and the longitudinal position information of the host vehicle are less than or equal to about 60 m).

[0122] The processor of the object display device may identify whether the object is included in any of the groups based on the lane information or the size information satisfying a specified condition.

[0123] For example, since the first object 405 is included in the level 1 lane, and the length of the longer segment of the length of the longitudinal segment of the object frame including the first object 405 and the length of the lateral segment of the object frame is greater than or equal to a specified length (e.g., about 1.5 m), referring to table 421, the first object 405 may be included in group 13. Referring to table 421, the priority of group 13 may be level 1.

[0124] For example, because the third object 409 is included in the level 2 lane, and the length of the longer segment of the length of the longitudinal segment of the object frame including the third object 409 and the length of the lateral segment of the object frame is greater than or equal to a specified length (e.g., about 1.5 m), referring to table 421, the third object 409 may be included in group 12. Referring to table 421, the priority of group 12 may be level 2.

[0125] The processor of the object display device may identify whether the object is included in any one of the groups based on whether the classification information satisfies a prescribed condition.

[0126] For example, because the second object 407 is classified as a pedestrian, referring to the table 421, the second object 407 may be included in the group 13. Referring to the table 421, the priority of the group 13 may be level 1.

[0127] The processor of the object display device may identify whether the object is included in any one of the groups based on the longitudinal position information satisfying a specified condition.

[0128] For example, because a lateral direction indicated by lateral position information of the fourth object 411 is greater than a designated lateral distance value (eg, about 60 m), the processor of the object display device may not recognize whether the fourth object 411 is a display target.

[0129] The processor of the object display device may select the object as a display target based on the priority of the designated group.

[0130] For example, the processor of the object display device may select only objects included in a group having a priority of 1 or more as display targets. A group having a priority of 1 or more (e.g., group 13 in table 421) may include a first object 405 and a second object 407. Thus, in scenario 401, the first object 405 and the second object 407 may be selected as display targets.

[0131] The table 421 referenced when the host vehicle 403 is traveling on a curve and the table referenced when the host vehicle 403 is traveling in a straight line (eg, Figure 3 In Table 321 of FIG. 421, the conditions of the objects included in Group 7 and the conditions of the objects included in Group 3 may be different from each other. Since Table 421 has the same contents as Table 321 except for the conditions added in Group 7 and Group 3, the repeated contents will be omitted hereinafter.

[0132] Compared with the conditions for objects included in group 7 of table 321, the conditions for objects added to group 7 in table 421 may include conditions for objects being outside approximately 60m in the longitudinal direction, wherein the size of the object frame is greater than or equal to approximately 4m.

[0133] Even when the host vehicle 403 is traveling on a curve, an object located at a position greater than or equal to about 60 m in the longitudinal direction can be identified. An object whose object frame size is greater than or equal to about 4 m may refer to an object whose longer section length is greater than or equal to about 4 m, out of the length of the longitudinal section of the object frame and the length of the lateral section of the object frame.

[0134] Compared with the conditions for objects included in group 7 of table 321, the conditions for objects added to group 3 in table 421 may include conditions for objects outside about 60m in the longitudinal direction, wherein the object frame is less than about 4m.

[0135] An object whose size of the object frame is less than about 4 m may refer to an object whose longer section length is less than about 4 m, out of a length of a longitudinal section of the object frame and a length of a lateral section of the object frame.

[0136] Figure 5 A table indicating a sorting order according to longitudinal position information of objects in an object display device or an object display method is shown.

[0137] Reference Figure 5 , the table 501 may indicate a priority 503 of a group including an object, an object identifier (ID) 505 , a longitudinal position 507 of the object, and a priority 509 of the object.

[0138] The processor of the object display device can refer to Figure 3 and Figure 4The processor of the object display device may identify a group including an object by using a table of objects. For example, the processor of the object display device may identify a priority 503 of a group including an object having an object ID 505. For example, an object whose object ID 505 is 11 and an object whose object ID 505 is 1 may be included in a group having a priority level of 1. For example, an object whose object ID 505 is 12 may be included in a group having a priority level of 2. For example, an object whose object ID 505 is 13, an object whose object ID 505 is 14, and an object whose object ID 505 is 2 may be included in a group having a priority level of 3. For example, an object whose object ID 505 is 3 and an object whose object ID 505 is 15 may be included in a group having a priority level of 4. For example, an object whose object ID 505 is 5 and an object whose object ID 505 is 4 may be included in a group having a priority level of 5. For example, an object whose object ID 505 is 6 may be included in a group having a priority level of 6. For example, an object whose object ID 505 is 7 and an object whose object ID 505 is 8 may be included in a group having a priority level of 7. For example, an object whose object ID 505 is 10 and an object whose object ID 505 is 9 may be included in a group having a priority level of 8.

[0139] The processor of the object display device may sort the objects in the same group according to the longitudinal position 507 of the objects. For example, the processor of the object display device may sort the object with the object ID 505 of 11 and the object with the object ID 505 of 1 included in the group with the level 1 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with the object ID 505 of 13, the object with the object ID 505 of 14, and the object with the object ID 505 of 2 included in the group with the level 3 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with the object ID 505 of 3 and the object with the object ID 505 of 15 included in the group with the level 4 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with the object ID 505 of 5 and the object with the object ID 505 of 4 included in the group with the level 5 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with the object ID 505 of 6 included in the group with the level 6 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with object ID 505 7 and the object with object ID 505 8 included in the group with level 7 in ascending order according to the longitudinal position. For example, the processor of the object display device may sort the object with object ID 505 10 and the object with object ID 505 9 included in the group with level 8 in ascending order according to the longitudinal position.

[0140] The processor of the object display device may identify a priority 509 of the object based on the priority 503 of the group and the result of classification according to the longitudinal position 507 .

[0141] For example, when an object whose object ID 505 is 11 included in a group having rank 1 is sorted first in ascending order by the processor of the object display device, the priority of the object whose object ID 505 is 11 may be rank 1. For example, when an object whose object ID 505 is 1 included in a group having rank 1 is sorted second in ascending order by the processor of the object display device, the priority of the object whose object ID 505 is 1 may be rank 2.

[0142] When identified in this way, the priority of an object whose object ID 505 is 12 may be level 3. The priority of an object whose object ID 505 is 13 may be level 4. The priority of an object whose object ID 505 is 14 may be level 5. The priority of an object whose object ID 505 is 2 may be level 6. The priority of an object whose object ID 505 is 3 may be level 7. The priority of an object whose object ID 505 is 15 may be level 8. The priority of an object whose object ID 505 is 5 may be level 9. The priority of an object whose object ID 505 is 4 may be level 10. The priority of an object whose object ID 505 is 6 may be level 11. The priority of an object whose object ID 505 is 7 may be level 12. The priority of an object whose object ID 505 is 8 may be level 12. The priority of an object whose object ID 505 is 10 may be level 14. The priority of an object whose object ID 505 is 9 may be level 15.

[0143] Figure 6 An example is shown in which an object as a display target is selected according to a priority in an object display device or an object display method.

[0144] Reference Figure 6 In scenario 601, the processor of the object display device may identify a host vehicle 603, a first object 605, a second object 607, a third object 609, a fourth object 611, a fifth object 613, and a sixth object 615. In scenario 601, curvature information indicating a curvature of a path traveled by the host vehicle 603 including the object display device may be less than a specified curvature value.

[0145] The first object 605 may be classified as a pedestrian. Therefore, referring to the table (e.g., Figure 3 321), the first object 605 can be identified as being included in the group with level 1.

[0146] Because the second object 607 is included in the same lane as the lane in which the main vehicle 603 is located, and the length of the longer of the longitudinal segment of the object frame including the second object 607 and the length of the lateral segment of the object frame is greater than or equal to the specified length (for example, approximately 1.5m), the second object 607 can be identified as being included in the group with level 1.

[0147] Because the third object 609 is included in two lanes adjacent to the lane in which the main vehicle 603 is located, and the length of the longer segment of the longitudinal segment of the object frame including the third object 609 and the length of the lateral segment of the object frame is greater than or equal to the specified length (for example, approximately 1.5m), the third object 609 can be identified as being included in the group with level 2.

[0148] For example, because the length of the longer segment among the length of the longitudinal segment of the object frame including the fourth object 611 and the length of the horizontal segment of the object frame is greater than or equal to the specified length (for example, approximately 20m), the fourth object 611 can be identified as being included in the group with level 2.

[0149] The fifth object 613 may be classified as a pole located in the lane where the host vehicle 603 is located or a lane close to the lane where the host vehicle 603 is located. The pole may be referred to as a traffic pole, but the exemplary embodiment of the present disclosure may not be limited thereto. Referring to the table (e.g., Figure 3 321), the fifth object 613 can be identified as included in the group with level 3.

[0150] Because the sixth object 615 is included in a lane adjacent to an adjacent lane of the lane where the main vehicle 603 is located, the length of the longer segment of the longitudinal segment of the object frame of the sixth object 615 and the length of the lateral segment of the object frame is greater than or equal to the specified length (for example, about 1.5m), and therefore the sixth object 615 is included in the level 4 group.

[0151] The processor of the object display device may sort the first object 605 and the second object 607 included in the group having level 1 based on longitudinal position information. For example, when the host vehicle 603 becomes the origin, because the longitudinal position value indicated by the longitudinal position information of the first object 605 is closer to the origin than the longitudinal position value indicated by the longitudinal position information of the second object 607, the processor of the object display device may sort the first object 605 and the second object 607 in the order of the first object 605 and the second object 607 in the group having level 1.

[0152] The processor of the object display device may sort the third object 609 and the fourth object 611 included in the group having level 2 based on the longitudinal position information. For example, when the host vehicle 603 becomes the origin, because the longitudinal position value indicated by the longitudinal position information of the third object 609 is closer to the origin than the longitudinal position value indicated by the longitudinal position information of the fourth object 611, the processor of the object display device may sort the third object 609 and the fourth object 611 in the order of the fourth object 611 and the third object 609 in the group having level 2. However, when the representative point of the object for identifying the longitudinal position information of the object changes, the sorting order of the third object 609 and the fourth object 611 may change.

[0153] Since only the fifth object 613 is included in the group having the rank 3 , the processor of the object display device may sort the fifth object 613 .

[0154] Since only the sixth object 615 is included in the group having the rank 4 , the processor of the object display device may sort the sixth object 615 .

[0155] The processor of the object display device may identify the priority of the object based on the priority of the group and the result of the sorting. For example, the priority of the first object 605 among all objects included in the first frame before obtaining the code indicating the specified error may be level 1. For example, the priority of the second object 607 among all objects may be level 2. For example, the priority of the fourth object 611 among all objects may be level 3. For example, the priority of the third object 609 among all objects may be level 4. For example, the priority of the fifth object 613 among all objects may be level 5. For example, the priority of the sixth object 615 among all objects may be level 6.

[0156] The processor of the object display device may select, as display targets, all objects each having a priority level higher than level 6 as the designated priority level.

[0157] Therefore, the first object 605, the second object 607, the third object 609, the fourth object 611, and the fifth object 613 may be selected as display targets. The sixth object 615 may be identified as an object that is not a display target.

[0158] Figure 7 The operation flow of the object display device for selecting an object as a display target in the object display device or the object display method is shown.

[0159] In the following, it is assumed Figure 1 The object display device 101 performs Figure 7 In addition, Figure 7In the description of , operations described as being performed by the processor of the object display device may be understood to be controlled by the processor 105 of the object display device 101 .

[0160] Reference Figure 7 In a first operation 701 , a processor of an object display device may identify an object located in front of a host vehicle.

[0161] In the second operation 703 , the processor of the object display device may identify at least one of lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information.

[0162] In the third operation 705, the processor of the object display device may identify a group including the object from among a plurality of groups divided according to the importance of the object based on at least one or any combination of lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information satisfying specified conditions.

[0163] In a fourth operation 707 , the processor of the object display device may sort the object included in any one group and at least one other object in ascending order or descending order.

[0164] In a fifth operation 709, the processor of the object display device may identify a priority of an object among all objects recognized in the first frame based on the priorities of the groups and the sorting result.

[0165] In a sixth operation 711, the processor of the object display device may select the object as a display target in a second frame included in a time after the code indicating the specified error is obtained, based on the specified priority.

[0166] Figure 8 An example of an object that changes depending on whether it is a display target according to a designated priority in an object display device or an object display method is shown.

[0167] Reference Figure 8 In scenario 801, the processor of the object display device may identify a host vehicle 803, a first object 805, a second object 807, a third object 809, a fourth object 811, a fifth object 813, and a sixth object 815. In scenario 801, curvature information indicating a curvature of a path on which the host vehicle 803 including the object display device is traveling may be less than a specified curvature value.

[0168] The processor of the object display device may identify whether the object is included in any of a plurality of groups divided according to the importance of the object based on at least one of lane information, longitudinal position information, lateral position information, classification information, quantity information, and size information or any combination thereof that satisfies a specified condition. The processor of the object display device may identify a priority of any one of the groups including the object.

[0169] For example, the first object 805 may be identified as included in a group having level 1. For example, the second object 807, the third object 809, the fourth object 811, and the fifth object 813 may be identified as included in a group having level 2. For example, the sixth object 815 may be identified as included in a group having level 3.

[0170] Since only the first object 805 is included in the group having the rank 1, the processor of the object display device may sort the first object 805.

[0171] The processor of the object display device may sort the second object 807 , the third object 809 , the fourth object 811 , and the fifth object 813 included in the group having the rank 2 .

[0172] The processor of the object display device may sort the second object 807, the third object 809, the fourth object 811, and the fifth object 813 included in the group having level 2 based on the longitudinal position information. The processor of the object display device may sort the second object 807, the third object 809, the fourth object 811, and the fifth object 813 in the order of the fifth object 813, the fourth object 811, the third object 809, and the second object 807 in the group having level 2.

[0173] Since only the sixth object 815 is included in the group having the rank 3 , the processor of the object display device may sort the sixth object 815 .

[0174] The processor of the object display device may identify the priority of the object based on the priority of the group and the result of the sorting. For example, the priority of the first object 805 among all objects included in the first frame before obtaining the code indicating the specified error may be level 1. For example, the priority of the fifth object 813 among all objects may be level 2. For example, the priority of the fourth object 811 among all objects may be level 3. For example, the priority of the third object 809 among all objects may be level 4. For example, the priority of the second object 807 among all objects may be level 5. For example, the priority of the sixth object 815 among all objects may be level 6.

[0175] If the processor of the object display device selects all objects having priorities higher than level 6 as display targets, first object 805, second object 807, third object 809, fourth object 811, and fifth object 813 may be selected as display targets. Sixth object 815 may be identified as an object that is not a display target.

[0176] If the processor of the object display device selects all objects each having a priority higher than that in ranking 7 as display targets, the first object 805 , the second object 807 , the third object 809 , the fourth object 811 , the fifth object 813 , and the sixth object 815 may be selected as display targets.

[0177] Fig. 9 A computing system associated with an object display apparatus or an object display method is shown.

[0178] Reference Fig. 9 The computing system 900 may include at least one processor 910 , a memory 930 , a user interface input device 940 , a user interface output device 950 , a storage device 960 , and a network interface 970 connected to each other via a bus 920 .

[0179] The processor 910 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 930 and / or the storage device 960. The memory 930 and the storage device 960 may include various types of volatile or non-volatile storage media. For example, the memory 930 may include a read-only memory (ROM) 931 and a random access memory (RAM) 932.

[0180] Therefore, the operation of the method or algorithm described in conjunction with one or more exemplary embodiments disclosed in the specification may be directly implemented using a hardware module, a software module, or a combination of a hardware module and a software module, which is executed by the processor 910. The software module may reside on a storage medium (i.e., memory 930 and / or storage device 960) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0181] An exemplary storage medium may be coupled to the processor 910. The processor 910 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 910. The processor and the storage medium may exist in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor and the storage medium may reside in a user terminal as separate components.

[0182] Although the present disclosure has been described above with reference to one or more exemplary 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 to which the present disclosure belongs without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0183] Therefore, the exemplary embodiments of the present disclosure are not intended to limit the technical spirit of the present disclosure, but are provided for illustrative purposes only. The scope of the present disclosure should be interpreted based on the appended claims, and all technical concepts within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. An object display device, comprising: sensor; as well as The processor is configured as: determining an object located in front of the vehicle based on contour points in a first frame obtained via the sensor at a first time and further based on a code indicating an error obtained at a second time later than the first time; Information indicating at least one of the following is determined: The lane where the object is located, the longitudinal component of the distance between the object and the vehicle, The lateral component of the distance, the classification of the object, The number of parts of the contour points included in the object frame indicating the object, and The size of the object frame; determining, based on the information, whether the object is included in a first group among a plurality of groups divided according to importance of the object; sorting the object and at least one other object included in the first group based on the longitudinal component; determining a priority of the object among all objects identified in the first frame based on the priority of the first group and a result of ranking the objects; as well as Based on a determination that the priority of the object is greater than a specified priority, the object is selected as a display target in a second frame obtained at a third time later than the second time.

2. The object display device according to claim 1, wherein: The processor is configured to determine whether the object is included in the first group by: determining coordinates of a point corresponding to the vehicle; obtaining an indication of a curvature of a path on which the vehicle is traveling; Determining whether the longitudinal component is less than a threshold; as well as further determining whether the object is included in the first group based on the longitudinal component being less than the threshold, and The threshold is one of the following: a first value, based on the curvature being greater than or equal to a specified curvature value, and A second value greater than the first value is based on the curvature being less than the specified curvature value.

3. The object display device according to claim 1, wherein: The processor is further configured to: determining coordinates of a point corresponding to the vehicle; sorting a second object having a first longitudinal position among the second object and at least one other object included in the first group by assigning a first priority to the second object; as well as The third object having a second longitudinal position value less than the first longitudinal position value is sorted by assigning a second priority level greater than the first priority level to the third object.

4. The object display device according to claim 1, wherein: The code indicates that a point cloud for generating the contour points is not obtained within a specified time window.

5. The object display device according to claim 1, wherein: The lane is a first lane, wherein the processor is further configured to: assigning a first priority to a second group including a second object associated with a second lane; and assigning a second priority level greater than the first priority level to a third group including a third object associated with a third lane, The distance between the first lane and the second lane is greater than the distance between the first lane and the third lane.

6. The object display device according to claim 1, wherein: The processor is further configured to: Based on a determination that the priority of the first group is greater than the priority of a specified group, all objects included in the first group are selected as display targets in the second frame.

7. The object display device according to claim 1, wherein: The processor is further configured to: determining the speed of the vehicle, and Wherein, the designated priority has an inverse correlation with the speed of the vehicle.

8. The object display device according to claim 1, wherein: The processor is configured to select the object as the display target in the following manner: The object is further selected as a display target in the second frame based on: The classification of the object is one of a pedestrian and a preceding vehicle, and The vehicle is located in the lane or in a second lane adjacent to the lane.

9. The object display device according to claim 1, wherein: The processor is configured to select the object as the display target in the following manner: obtaining a signal from a mapping system indicating that the vehicle is located in an area that is not a road; determining that the classification of the object is a pedestrian; as well as Further based on the signal and the determination that the classification of the object is the pedestrian, the object is selected as the display target in the second frame.

10. The object display device according to claim 1, wherein: The processor is configured to determine whether the object is included in the first group by: Whether the object is included in the first group is further determined based on a length of a longer one of a longitudinal section of the object frame and a transverse section of the object frame being greater than a threshold length.

11. A method for displaying an object, comprising: determining an object located in front of the vehicle based on contour points in a first frame obtained via a sensor at a first time and further based on a code indicating an error obtained at a second time later than the first time; Information indicating at least one of the following is determined: The lane where the object is located, the longitudinal component of the distance between the object and the vehicle, A transverse component of the distance, the classification of the object, The number of parts of the contour points included in the object frame indicating the object, and The size of the object frame; determining, based on the information, whether the object is included in a first group among a plurality of groups divided according to importance of the object; sorting the object and at least one other object included in the first group based on the longitudinal component; determining a priority of the object among all objects identified in the first frame based on the priority of the first group and a result of the ranking of the objects; as well as Based on a determination that the priority of the object is greater than a specified priority, the object is selected as a display target in a second frame obtained at a third time later than the second time.

12. The object display method according to claim 11, wherein: Determining whether the object is included in the first group comprises: determining coordinates of a point corresponding to the vehicle; obtaining an indication of a curvature of a path on which the vehicle is traveling; determining whether the longitudinal component is less than a threshold; and further determining whether the object is included in the first group based on the longitudinal component being less than the threshold, and The threshold is one of the following: a first value, based on the curvature being greater than or equal to a specified curvature value, and A second value greater than the first value is based on the curvature being less than the specified curvature value.

13. The object display method according to claim 11, further comprising: determining coordinates of a point corresponding to the vehicle; sorting the second object having the first longitudinal position value among the second object and at least one other object included in the first group by assigning a first priority to the second object; as well as The third object having a second longitudinal position value smaller than the first longitudinal position value is classified by assigning a second priority level greater than the first priority level to the third object.

14. The object display method according to claim 11, wherein: The code indicates that a point cloud for generating the contour points is not obtained within a specified time window.

15. The object display method according to claim 11, wherein: The lane is a first lane, wherein the method further comprises: assigning a first priority to a second group including a second object associated with a second lane; and assigning a second priority level greater than the first priority level to a third group including a third object associated with a third lane, and The distance between the first lane and the second lane is greater than the distance between the first lane and the third lane.

16. The object display method according to claim 11, further comprising: Based on a determination that the priority of the first group is greater than the priority of a specified group, all objects included in the first group are selected as display targets in the second frame.

17. The object display method according to claim 11, further comprising: determining the speed of the vehicle, and Wherein, the designated priority has an inverse correlation with the speed of the vehicle.

18. The object display method according to claim 11, wherein: Selecting the object as the display target includes: The object is selected as the display target in the second frame based on: The classification of the object is one of a pedestrian and a preceding vehicle, and The vehicle is located in the lane or in a second lane adjacent to the lane.

19. The object display method according to claim 11, wherein: Selecting the object as the display target includes: obtaining a signal from a mapping system indicating that the vehicle is located in an area that is not a road; determining that the classification of the object is a pedestrian; and Further based on the signal and the determination that the classification of the object is the pedestrian, the object is selected as the display target in the second frame.

20. The object display method according to claim 11, wherein: Determining whether the object is included in the first group comprises: Whether the object is included in the first group is further determined based on a length of a longer one of a longitudinal section of the object frame and a transverse section of the object frame being greater than a threshold length.

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