Environment perception device and method of mobile vehicle

An environment perception device of a mobile vehicle, comprising:

• a camera module disposed on the mobile vehicle and configured to photograph a field near the mobile vehicle to generate a three-dimensional (3D) image frame;
• a LiDAR module disposed on the mobile vehicle and configured to scan the field to generate a 3D scanned frame;
• a database configured to store a 3D map;
• and
• a processing circuit coupled to the camera module and the LiDAR module to receive the 3D image frame and the 3D scanned frame,
• wherein the processing circuit is configured to fuse the 3D image frame of the camera module and the 3D scanned frame of the LiDAR module to generate a specific 3D object information corresponding to an object in the field,
• wherein the processing circuit is configured to determine whether the object in the field is a static object by comparing the specific 3D object information with the 3map, wherein the specific 3D object information is not retrieved from a two-dimensional sensing data corresponding to the object in the field,
• in response to that the object in the field is a moving object or the object in the field has not been recorded in the 3D map, the processing circuit performs an analysis and calculation on the specific 3D object information to obtain a movement characteristic including a moving direction of the object and a size of the object, and
• in response to that the object in the field is the static object, the processing circuit skips the analysis and calculation on the specific 3D object information.