System for recognizing and tracking object by using artificial intelligence and autonomous driving sensor and method implementing the same

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

• obtaining multiple point data input from a sensor of the host vehicle;
• based on the multiple point data and using an artificial intelligent model, detecting and tracking a vehicle in a surrounding environment of the host vehicle;
• determining whether a movement of the vehicle satisfies a normal condition or a special condition;
• based on the determining of whether the movement satisfies the normal condition or the special condition, executing one of a first displacement estimation process or a second displacement estimation process, wherein the first displacement estimation process is performed to determine a displacement of the vehicle under the normal condition, and wherein the second displacement estimation process is performed to determine a displacement of the vehicle under the special condition;
• based on a displacement of the vehicle determined by the execution of the one of the first displacement estimation process or the second displacement estimation process, outputting a signal indicating updated displacement information and velocity information for the vehicle;
• and
• controlling, based on the signal, autonomous driving of the host vehicle.

A vehicle comprising:

• a 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 point cloud data from the sensor representing a surrounding environment of the vehicle,
• identify an object in the surrounding environment of the vehicle based on the point cloud data using an artificial intelligence model,
• identify a movement condition of the object as either:
• a normal condition, in which the object travels forward along a travel direction with a velocity and a heading that remain within a predetermined range over a time period, or
• a special condition, in which at least one of a velocity or a heading of the object deviates from the predetermined range within the time period,
• based on the identified movement condition, execute a displacement estimation process specific to the identified movement condition to determine a displacement and a velocity of the object,
• output a signal indicating the displacement and the velocity of the object;
• and
• control, based on the signal, autonomous driving of the vehicle using the driving control circuit.