Autonomous vehicle object detection method and apparatus

An object detection apparatus included in a vehicle traveling in a confined space, comprising:

• a processor configured to;
• determine a first beam pattern and a second beam pattern based on geometric information about the confined space;
• detect first candidate objects based on a first transmission signal emitted to form the first beam pattern using at least one antenna;
• detect second candidate objects based on a second transmission signal emitted to form the second beam pattern, which is different from the first beam pattern, using the at least one antenna;
• detect at least one clutter object based on the first candidate objects and the second candidate objects;
• detect a target object based on the at least one clutter object;
• and
• control an operation of the vehicle based on a result of the detection of the target object.

An object detection method for a vehicle traveling in a confined space, method comprising:

• acquiring geometric information of the confined space;
• setting a plurality of regions of interest (ROIs) in the confined space based on the geometric information and a determined location of the vehicle;
• determining a field of view (FoV) for each of the plurality of ROIs;
• calculating an orientation angle of each of a plurality of antennas within the determined FoV,
• emitting a transmission signal based at the calculated orientation angle;
• detecting an object based on a receive signal corresponding to the transmission signal;
• and
• controlling an operation of the vehicle based on a result of the detecting of the object in the confined space.

A processor implemented object detection method for a vehicle traveling in a confined space, comprising:

• determining a plurality of regions of interest (ROIs) based on geometric information of the confined space;
• determining beam patterns based on the plurality of ROIs;
• detecting corresponding candidate objects based on transmission signals emitted to form the beam patterns using at least one antenna;
• detecting clutter objects based on currently detected candidate objects and subsequently detected candidate objects;
• and
• detecting a target object based on the clutter objects in the confined space;
• and
• controlling an operation of the vehicle based on a result of the detecting of the target object in the confined space.