System for sensor fusion in autonomous driving by using artificial intelligence and method implementing the same

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

• setting at least one reference sensor among a plurality of sensors of the vehicle and setting at least one second sensor among the plurality of sensors;
• obtaining, from the at least one reference sensor and the at least one second sensor, shape information and heading angle information, wherein the shape information comprises at least four vertices position information of an object in a surrounding environment of the vehicle, wherein the object is recognized based on an artificial intelligent model by fusing data input from at least two sensors of the plurality of sensors;
• generating, based on the shape information and the heading angle information from the at least one reference sensor, a reference predicted bounding box (P-Box);
• generating, based on the shape information and the heading angle information from the at least one second sensor, at least one second P-Box;
• selecting an alignment target P-Box among the at least one second P-Box, wherein the alignment target P-Box is selected based on a highest similarity to the shape information and the heading angle information of the reference P-Box;
• based on four vertices position information of the reference P-Box, adjusting the four vertices position information of the alignment target P-Box;
• based on the adjusting of the four vertex position information of the alignment target P-Box, generating a fusion P-Box by fusing the alignment target P-Box and the reference P-Box;
• outputting a signal indicating an object recognized based on the fusion P-Box;
• and
• controlling, based on the signal, autonomous driving of the vehicle.

A vehicle comprising:

• a first sensor;
• a second sensor;
• a driving control circuit configured to control autonomous driving of the vehicle;
• a processor;
• and
• a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the vehicle to:
• obtain, from the first sensor and the second sensor, shape information and heading angle information for an object in a surrounding environment of the vehicle, wherein the shape information comprises at least four vertices positions of the object,
• based on the shape information and the heading angle information from the first sensor, generate a reference predicted bounding box (P-Box),
• based on the shape information and the heading angle information from the second sensor, generate at least one second P-Box,
• select, based on similarity to the reference P-Box, an alignment target P-Box from among the at least one second P-Box,
• based on vertex positions of the reference P-Box, adjust vertex positions of the alignment target P-Box,
• based on the reference P-Box and the alignment target P-Box with the adjusted vertex positions, generate a fusion P-Box,
• generate a fitting shape corresponding to the object in the surrounding environment of the vehicle by refining the fusion P-Box based on at least one of a size, heading of the fusion P-Box, or object class information,
• output a signal indicating the fitting shape, and
• control, via the driving control circuit and based on the signal, autonomous driving of the vehicle.