Method and apparatus for tracking object using LiDAR sensor and recording medium storing program to execute the method

#This application claims under 35 U.S.C. § 119(a) the benefit of Korean Patent Application No. 10-2020-0187720, filed on Dec. 30, 2020, the entire contents of which are incorporated by reference herein.

#The present disclosure relates to a method and an apparatus for tracking an object using a LiDAR sensor, and a recording medium storing a program to execute the method.

#A highway driving pilot (HDP) system of a vehicle is a system that maintains a speed of the vehicle according to conditions set by a driver about the speed of the vehicle and a distance to a preceding vehicle traveling in a same lane as the vehicle, without operation of an accelerator pedal or a brake pedal by the driver.

#Arrangements and embodiments may be described in detail with reference to the following drawings, in which like reference numerals refer to like elements and wherein:

#FIG. 1 is a flowchart for explaining an object-tracking method using a LiDAR sensor according to an embodiment;

#FIG. 2 is a block diagram of a vehicle including an object-tracking apparatus using a LiDAR sensor according to an embodiment;

#It is understood that the term “vehicle” or “vehicular” or other similar term as used herein is inclusive of motor vehicles in general such as passenger automobiles including sports utility vehicles (SUV), buses, trucks, various commercial vehicles, watercraft including a variety of boats and ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum). As referred to herein, a hybrid vehicle is a vehicle that has two or more sources of power, for example both gasoline-powered and electric-powered vehicles.

#The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly described to the contrary, the word “comprise” and variations such as “comprises” or “comprising” will be understood to imply the inclusion of stated elements but not the exclusion of any other elements. In addition, the terms “unit”, “-er”, “-or”, and “module” described in the specification mean units for processing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

#Further, the control logic of the present disclosure may be embodied as non-transitory computer readable media on a computer readable medium containing executable program instructions executed by a processor, controller or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards and optical data storage devices. The computer readable medium can also be distributed in network coupled computer systems so that the computer readable media is stored and executed in a distributed fashion, e.g., by a telematics server or a Controller Area Network (CAN).