Method for locating specific autonomous vehicle and computing device using the same

A computing device for locating a specific autonomous vehicle, comprising:

• at least one memory that stores instructions;
• and
• at least one processor configured to execute the instructions to perform or support another device to perform:
• (I) a process of receiving map data related to a position of the specific autonomous vehicle and its adjacent regions, from a server;
• (II) a process of obtaining a specific object-based sector and a specific vehicle-based sector, by referring to (i) map object data regarding at least one object included in the map data and (ii) specific sensed data obtained from a specific sensor of the specific autonomous vehicle, wherein the specific object-based sector is a specific object-based virtual area, corresponding to a direction seen from the object toward the position of the specific autonomous vehicle and its adjacent directions, selected among all object-based virtual areas, and wherein the specific vehicle-based sector is a specific vehicle-based virtual area, corresponding to a headed direction of the specific autonomous vehicle and its adjacent directions, among all vehicle-based virtual areas;
• and (III) a process of determining a validity of the specific sensed data by referring to the specific object-based sector, the specific vehicle-based sector and the map object data, and in case the specific sensed data is determined as valid, locating the specific autonomous vehicle by referring to a specific matched result data generated from a matching process between the map object data and the specific sensed data.