3d ultrasonic voxel generation method, vehicle, and computer-readable recording medium including instructions for performing 3d ultrasonic voxel generation method

A vehicle comprising:

• one or more ultrasonic sensors configured to detect, at a plurality of times, a plurality of ultrasonic signals representing one or more objects in a surrounding environment of the vehicle;
• a processor;
• and
• a memory storing at least one instruction that is configured, when executed by the processor, to cause the vehicle to:
• process motion compensation on:
• one or more reference ultrasonic signals, of the plurality of ultrasonic signals, that are detected at a reference time of the plurality of times, and
• one or more non-reference ultrasonic signals, of the plurality of ultrasonic signals, that are detected at one or more non-reference times of the plurality of times;
• generate, based on the one or more motion-compensated reference ultrasonic signals, a reference ultrasonic voxel feature map;
• generate, based on the one or more motion-compensated non-reference ultrasonic signals, one or more non-reference ultrasonic voxel feature maps;
• generate a final ultrasonic voxel feature map by combining the reference ultrasonic voxel feature map and the one or more non-reference ultrasonic voxel feature maps;
• and
• control, based on the final ultrasonic voxel feature map, an autonomous driving operation of the vehicle.

A non-transitory computer-readable medium storing instructions that, when executed by a computing device, cause the computing device to:

• obtain, from an ultrasonic sensor of a vehicle at a first time, a first non-reference signal representing one or more objects in a surrounding environment of the vehicle;
• obtain, from the ultrasonic sensor at a second time after the first time, a second non-reference signal representing the one or more objects;
• obtain, from the ultrasonic sensor at a third time after the second time, a reference signal representing the one or more objects;
• generate, based on the first non-reference signal and the second non-reference signal, a plurality of non-reference ultrasonic voxel feature maps;
• generate, based on the reference signal, a reference ultrasonic voxel feature map;
• and
• control, based on the reference ultrasonic voxel feature map and the plurality of non-reference ultrasonic voxel feature maps, an autonomous driving operation of the vehicle.