System for recognizing and tracking object based on autonomous driving sensor and artificial intelligence and method implementing the same

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

• obtaining, from a sensor of the vehicle, pieces of point data associated with an object in a surrounding environment of the vehicle, wherein the pieces of point data are processed based on an artificial intelligence (AI) model associated with autonomous driving of the vehicle;
• obtaining class information of the object and predicted bounding box (P-Box) information, wherein the P-Box information is obtained through segmentation and clustering of the pieces of point data, wherein the object is tracked based on the P-Box information;
• based on the P-Box information, the class information, and the pieces of point data, generating a driving environment map associated with autonomous driving of the vehicle;
• outputting, based on the class information and the driving environment map, a signal indicating tracking information about the object, wherein the tracking information is adjusted to compensate for a time delay between the obtaining of the pieces of point data and the outputting of the signal;
• and
• controlling, based on the signal, autonomous driving of the vehicle.

A vehicle comprising:

• a sensor configured to obtain point data representing an external environment of the vehicle;
• a driving control circuit configured to control autonomous driving of the vehicle;
• and
• a processor circuit configured to cause the vehicle to:
• segment the point data into segmented point data, and cluster the segmented point data into clusters,
• obtain, based on the clusters, class information of an object represented by the clusters,
• generate a driving environment map based on the class information, the clusters, and the point data,
• track, based on the driving environment map, the object across time to generate tracking information of the object, wherein the tracking information is generated based on at least one of:
• updating tracking channels associated with the clusters,
• verifying the tracking channels to remove false tracks caused by noise,
• generating a new tracking channel for a cluster of point data not associated with an existing tracking channel, or
• retaining a tracking channel for a second cluster of point data when the second cluster is not associated with point data in a current frame obtained by the sensor,
• output a signal indicating the tracking information of the object;
• and
• control, via the driving control circuit and based on the signal, autonomous driving of the vehicle.