Device for recognizing obstacle around vehicle and method thereof

A method of recognizing an obstacle around a vehicle, the method comprising:

• generating, by a distance sensor, sensing information regarding each of a plurality of signals by outputting the plurality of signals to an area spaced a predetermined distance from the front of the vehicle;
• extracting, by a signal processing unit comprising at least one processor, the sensing information regarding signals determined as sensing an obstacle by individually performing vertical ground filtering and horizontal ground filtering on the sensing information regarding each of the plurality of signals, wherein the signal processing unit further comprises a vertical signal processor and a horizontal signal processor;
• mixing, by a signal mixer comprising at least one processor, the sensing information extracted by performing vertical ground filtering and the sensing information extracted by performing horizontal ground filtering;
• recognizing, by an obstacle recognition unit comprising at least one processor, the obstacle in the front area using a result of mixing the extracted sensing information,
• wherein the sensing information includes direct range information generated by a distance sensor,
• wherein the extracting of the sensing information comprises:
• extracting, by the vertical signal processor, first sensing information among the signals output at the same position and at the same horizontal angle and different vertical angles, while filtering out the sensing information regarding signals determined as sensing the ground;
• and
• extracting, by the horizontal signal processor, second sensing information among the signals output at the same position and at the same vertical angle and different horizontal angles, while filtering out the sensing information regarding signals determined as sensing the ground;
• and
• wherein the extracting of the second sensing information comprises checking, by the horizontal signal processor, whether the obstacle is sensed by two random signals adjacent in a horizontal direction among the signals output at the same position and at the same vertical angle and different horizontal angles by comparing a directivity between points sensed by the two random signals with a driving direction of the vehicle.