Patent ID: 11938927
Assignee: KIA CORPORATION
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 20:
21. A non-transitory computer-readable recording medium having a program recorded thereon, the program to direct a processor to perform acts of:
generating track deletion conditions corresponding to a plurality of predetermined phenomena, respectively, and storing the generated track deletion conditions;
determining a phenomenon, among the plurality of predetermined phenomena, corresponding to a current situation by analyzing a plurality of received tracks;
retrieving the track deletion conditions corresponding to the determined phenomenon among the stored track deletion conditions corresponding to the phenomena; and
deleting a single track or a fusion track corresponding to the track deletion conditions
wherein the phenomena comprises:
a first phenomenon associated with a situation in which a roof lidar track having a small size with respect to one target is additionally generated;
a second phenomenon associated with a situation in which an unstable false roof lidar track is generated;
a third phenomenon associated with a situation in which two sensor fusion tracks having heading angles parallel to each other overlap each other; and
a fourth phenomenon associated with a situation in which two sensor fusion tracks having heading angles in opposite directions overlap each other, and

wherein the track deletion conditions comprise:
a first track deletion condition corresponding to a function of deletion variables configured to indicate physical characteristics of a fusion track (FT1) and a roof lidar-only track (FT2) corresponding to each of the first to fourth phenomena; and
a second track deletion condition corresponding to a deletion condition for a position of the fusion track satisfying the first track deletion condition.