Method and vehicle for recognizing irregular static object for identification of road boundary

A method performed by an apparatus of a vehicle, the method comprising:

• generating, based on point cloud data generated by a sensor of the vehicle, a plurality of tracked positions of static objects that are arranged serially;
• generating, based on a spatial relationship between a leading tracked position and a trailing tracked position of the plurality of tracked positions, a linear model;
• based on an intermediate tracked position having linear correlation above a threshold value, with respect to the leading tracked position and the trailing tracked position, and based on sensor characteristics of the plurality of tracked positions having at least a threshold similarity value, identifying, the plurality of tracked positions as a road boundary comprising successive static objects, wherein the intermediate tracked position is between the leading tracked position and the trailing tracked position;
• and
• controlling, based on the identified road boundary, an autonomous driving operation of the vehicle.

A vehicle comprising:

• a sensor configured to generate, based on a surrounding environment of the vehicle, point cloud data;
• a processor;
• and
• a memory storing at least one instruction that is configured, when executed by the processor, to cause the vehicle to:
• generate, based on the point cloud data, a plurality of tracked positions of static objects that are arranged serially;
• determine a prediction range that is spaced apart from a preceding tracked position of the plurality of tracked positions;
• add, based on detecting a next tracked position within the prediction range, the next tracked position to a tracking list;
• identify, based on the tracking list comprising at least a threshold quantity of tracked positions, the plurality of tracked positions as a road boundary comprising successive static objects;
• and
• control, based on the identified road boundary, an autonomous driving operation of the vehicle.