Apparatus for controlling vehicle and method thereof

Abstract

An apparatus for vehicle control is introduced. The apparatus includes a sensor and a processor configured to generate a tracking box based on a virtual box obtained from the sensor at a first time point, converting it to a second time point, and determine virtual boxes associated with the tracking box from a set of virtual boxes at the second time point, derived from sensor data. The processor decides whether to merge some or all of these virtual boxes based on their inter-distances, whether any virtual box corresponds to an object separated from a road edge, or if they are contained within the tracking box. The merging process is controlled based on the resulting merge box size, the difference from the size based on the identified virtual boxes, or the object type. The apparatus outputs a signal to indicate the outcome of this controlled merging.