Method for Fusing Grid Maps Obtained Based on Multi-Sensors and Mobility Device Using the Method

An apparatus for controlling autonomous driving of a vehicle, the apparatus comprising:

• a processor configured to execute at least one instruction;
• a memory configured to store the at least one instruction that, when executed by the processor, is configured to cause the apparatus to
• generate, based on a segmentation model processing point cloud data, a first semantic grid map;
• generate, based on an object detection model, a second semantic grid map;
• adjust a probability regarding whether occupancy exists for an element included in each grid of the first semantic grid map and the second semantic grid map;
• generate a fused grid map by determining, as a representative label, at least one label corresponding to a highest value among final probabilities of the at least one label, wherein the final probabilities are determined based on whether the at least one label matches the element;
• output, based on the fused grid map, a signal;
• and
• control, based on the signal, autonomous driving of the vehicle.