| 摘要 |
PURPOSE: A method for tracking an obstacle surrounding a vehicle is provided to improve the stability for driving by preventing from colliding due to the obstacles in an autonomous vehicle. CONSTITUTION: A method for tracking an obstacle surrounding a vehicle comprises: a step of giving an ID to each obstacle surrounding the vehicle by scanning to obtain the distance data with the obstacle by receiving a reflected beam and releasing the beam in a specific angle interval surrounding the vehicle; a step of determining whether or not the number of data on the left or right side of a different obstacle data is changed by the data of the obstacle where the ID is provided(S20); and a step of maintaining the ID by registering the ID of the obstacle which the number of data is changed into the obstacle which is hidden(S30). [Reference numerals] (AA) Scan; (BB) Output obstacle information; (S11) Compose an obstacle map; (S12) Remove noise and perform clustering; (S13) Calculate the movement of a vehicle; (S14) Classify fixed/mobile obstacles; (S20) Determine hidden obstacles; (S25) Calculate the probability of detecting each obstacle every scanning and delete the ID of an obstacle with a probability less than a predetermined threshold value; (S30) Maintain a hidden obstacle ID
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