Abstract: The enhanced flight vision system of an aircraft comprises an image acquisition system provided to acquire images of an outside environment of the aircraft, and a display system configured to allow information to be displayed on a display unit overlayed with the outside environment of the aircraft. The display system is configured to receive images produced by the image acquisition system and to display these images on the display unit. The image acquisition system is configured to associate ancillary information with at least a part of the images produced and the display system is configured to check the integrity of an image received from the image acquisition system, based on the ancillary information associated with that image; and in the absence of integrity, deactivate the display on the display unit of at least the image received from the image acquisition system.

Abstract: A video processing apparatus includes a light irradiation unit, a video acquisition unit, a motion detection unit, and an imaging control unit. The light irradiation unit irradiates a face of an object of shooting with light. The video acquisition unit acquires a video capturing the face of the object of shooting. The motion detection unit detects a speed of motion of at least a portion of the face in the video acquired by the video acquisition unit. The imaging control unit changes an open period of a shutter in the video acquisition unit and a light emission intensity of the light irradiation unit based on the speed detected by the motion detection unit.

Abstract: The present disclosure discloses a perception data detection method and apparatus. The specific implementation scheme is: acquiring labeled data and perception data, where the labeled data includes a labeled position and a labeled type of at least one first obstacle, and the perception data includes a perception position and a perception type of at least one second obstacle; performing, according to a negative sample in the labeled data, rough filtering on the second obstacle in the perception data to obtain a third obstacle remaining after the rough filtering, where the negative sample is a non-physical obstacle; determining a matching relationship between the third obstacle and the negative sample, and determining the negative sample having the matching relationship with the third obstacle as a target obstacle; and determining, according to the number of the target obstacle and the number of the first obstacle, a detection result of the perception data.

Abstract: A system includes a first robotic machine having a first set of capabilities for interacting with a target object on stationary equipment; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: An example of the present disclosure provides a stereo camera assembly of an object tracking system. The stereo camera assembly comprises a wide-angle lens camera mounted on a mounting structure and a telephoto lens camera mounted on the mounting structure such that a field of view of the telephoto lens camera is at least partially encompassed by a field of view of the wide-angle lens camera.

Abstract: A lamp for an automobile and an automobile including the lamp. According to one aspect, the lamp is for an automobile and includes a light source and an anti-reflection coating layer attached to a portion of a surface of a lens. The anti-reflection coating layer preventing deterioration in quality of the image captured by the camera due to the light emitted from the light source in the lamp.

Abstract: An apparatus, method, and computer readable medium related to determining the position of a device, for example determining the pose of a camera. Varying embodiments discuss the use of sensors and captured images to construct an environment property map, which provides reference information in the form of environment properties that are associated with positions, such as camera poses. Embodiments of the disclosure discuss using the environment property map online (e.g. in real time) in order to determine the position of a device. In some embodiments, the environment property map provides a coarse position that is used to refine or limit the necessary work for determining a more precise position.

Abstract: Systems and methods are disclosed for tracking objects in a physical environment using visual sensors onboard an autonomous unmanned aerial vehicle (UAV). In certain embodiments, images of the physical environment captured by the onboard visual sensors are processed to extract semantic information about detected objects. Processing of the captured images may involve applying machine learning techniques such as a deep convolutional neural network to extract semantic cues regarding objects detected in the images. The object tracking can be utilized, for example, to facilitate autonomous navigation by the UAV or to generate and display augmentative information regarding tracked objects to users.

Abstract: An attention calling device includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: acquire information regarding obstacles around a moving object detected by a sensor included in the moving object; calculate a potential risk that is a degree to which attention needs to be paid for each of the obstacles around the moving object, based on the acquired information regarding the obstacles and a moving state of the moving object; and present, to an occupant of the moving object, information for calling attention to an obstacle having a potential risk exceeding a predetermined value, based on a calculated potential risk of each of the obstacles.

Abstract: In a device (1) for recognizing an external environment of a moving body, an image processing unit (10) generates image data indicating the external environment of the moving body. Using this image data, object data indicating an object around the moving body is generated. At an occurrence of a predetermined event, a control unit (30) records the generated object data in a recording device (35), whereas the image processing unit (10) records, in another recording device (15), the image data corresponding to the object data recorded in the recording device (35). The time information generation unit (40) adds the same time information to the recorded object data and image data.

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.

Abstract: A vehicle mirror device includes a housing; an imaging device including an image light acquisition unit disposed in a lower surface of the housing in a vehicle-mounted state; a light projection device including an infrared irradiation unit disposed in the lower surface of the housing and disposed side by side with the image light acquisition unit in the left-and-right direction; and a plate-like attachment member including a surface on which the imaging device and the light projection device are mounted, and attached to the housing to hold the imaging device and the light projection device between the attachment member and the housing, the imaging device and the light projection device being fastened to the attachment member with screw members in a first direction. The attachment member is configured such that the imaging device and the light projection device are mountable thereon in a second direction different from the first direction.

Abstract: A rearview mirror system for a vehicle providing a direct reflection of scenes in good light and an enhanced display of scenes in bad lighting includes a housing defining an opening, a display screen arranged at the opening, a camera, a fill light lamp, and a controller. The display screen is light-pervious at only one side. The camera and the fill light lamp are arranged on the housing. An image processing chip and the controller are arranged between the display screen and the housing. When ambient brightness is below a preset brightness value, the camera and the fill light lamp are activated, the camera captures images of side and rear scenes of the vehicle and generates an optical signal, the image processing chip, based on the optical signal, outputs an enhanced image on the display screen for better driving safety. A vehicle including the rearview mirror system is also disclosed.

Abstract: A system uses an obstacle map to determine an avoidance map that indicates one or more constraint regions that are present in a physical space. The obstacle map is processed using a smoothing function and the smoothed map processed with a medial axis transform function to generate a MAT skeleton. The skeleton is pruned to remove spurs and then segmented based on MAT values that are representative of distances in the physical space between the skeleton and an obstacle. The avoidance map is determined by associating constraint regions with the segments. Constraint regions may indicate areas in the physical space that are open for the autonomous mobile device (AMD) to stop, narrow areas for which stopping should be avoided, and closed areas within which the AMD is not to stop during ordinary operation.

Abstract: A media playback system for presenting to a user a composition of a plurality of media streams. It has a media selection component configured to receive a scenario dataset, to receive user input for selecting viewing times defining segments of media and composition selections, and to output a list of segments of media from the scenario dataset that are authorized to be viewed by the user. The system has a playback control component configured to retrieve from media storage at least the segments of media from the output list of segments, to decode the segments of media, and to compile composition instructions. The system has a media playback component configured to receive the rendered media and the composition instructions.

Abstract: A vehicular radar sensing system includes a radar sensor disposed at a vehicle so as to sense exterior of the vehicle and having at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. The radar sensor includes a transmitting wave guide antenna and a receiving wave guide antenna, a PCB, and a processor operable to process radio signals transmitted by the at least one transmitter and received by the at least one receiver. Each of the wave guide elements includes a respective wave guide slot disposed at the inboard side of the PCB, and another respective wave guide slot that guides the radio signals to or from the environment, and a respective air wave guide that guides the radio signals between the respective wave guide slots.

Abstract: A bracket assembly for mounting a camera to a vehicle includes a bracket body and a glare shield that extends along the bracket body. A longitudinal axis is centrally disposed between a first sidewall and a second sidewall of the glare shield. At least one slit extends through the glare shield and spans between the first sidewall and the second sidewall.

Abstract: In various examples, systems and methods are disclosed that accurately identify driver and passenger in-cabin activities that may indicate a biomechanical distraction that prevents a driver from being fully engaged in driving a vehicle. In particular, image data representative of an image of an occupant of a vehicle may be applied to one or more deep neural networks (DNNs). Using the DNNs, data indicative of key point locations corresponding to the occupant may be computed, a shape and/or a volume corresponding to the occupant may be reconstructed, a position and size of the occupant may be estimated, hand gesture activities may be classified, and/or body postures or poses may be classified. These determinations may be used to determine operations or settings for the vehicle to increase not only the safety of the occupants, but also of surrounding motorists, bicyclists, and pedestrians.

Abstract: In various examples, systems and methods are disclosed that accurately identify driver and passenger in-cabin activities that may indicate a biomechanical distraction that prevents a driver from being fully engaged in driving a vehicle. In particular, image data representative of an image of an occupant of a vehicle may be applied to one or more deep neural networks (DNNs). Using the DNNs, data indicative of key point locations corresponding to the occupant may be computed, a shape and/or a volume corresponding to the occupant may be reconstructed, a position and size of the occupant may be estimated, hand gesture activities may be classified, and/or body postures or poses may be classified. These determinations may be used to determine operations or settings for the vehicle to increase not only the safety of the occupants, but also of surrounding motorists, bicyclists, and pedestrians.

Abstract: An automated parking system and a method enables a vehicle to autonomously travel to and parks in a vacant parking slot based on communication with a parking infrastructure. In addition, the automated parking system and method for a driverless vehicle is capable of autonomously traveling from a parking slot to a pickup area via communication with the parking infrastructure.

Abstract: A system and method for providing verification of tracking and monitoring devices with cargo transportation units is provided. The track and monitoring device is mounted to the cargo transportation unit to provide location tracking and security functions. The association process is typical a manual process by a technician of identifying container visual identifiers to the installed tracking and monitoring unit. Errors in the association process can occur during installation and repairs. The association between tracking and monitoring devices and their respective cargo transportation unit is verified by receiving images from one tracking and monitoring device at a server and verifying the cargo transportation unit identifier is associated with another tracking and monitoring device.

Abstract: Systems and methods in accordance with embodiments of the invention can proactively determine if an individual is likely in need of roadside assistance. Information can be collected from the individual's phone, including the person's location, the type of road, ambient noise, and/or motion of nearby objects. If it is determined that the individual likely needs roadside assistance, the system can proactively contact the individual to see if roadside assistance is desired, and if so, initiates roadside assistance. The system also can provide helpful information, such as safety information, and/or automatically contact other individuals to alert them of the roadside event and the location of the individual.

Abstract: Camera control systems and methods for providing a dynamic view of the environment outside of a vehicle are presented. One or more cameras are configured to capture at least one view of the environment outside of the vehicle. Control circuitry detects at least one of the speed of the vehicle and the pitch angle of the vehicle (e.g., by using a speedometer and inclinometer). The control circuitry selects a view angle based on the at least one of the speed of the vehicle and the pitch angle of the vehicle. The control circuitry then displays, based on an output of the at least one camera, a view of the environment outside of the vehicle from the selected view angle on a display of the vehicle.

Abstract: A vehicular camera includes (i) a lens barrel accommodating a lens, (ii) a lens holder having a passageway and (iii) an imager printed circuit board attached to the lens holder with the imager facing the lens. The lens barrel at least partially passes through the passageway of the lens holder when attaching the lens barrel to the lens holder. The imager printed circuit board is attached to the lens holder with the imager facing the lens and optically aligned with the lens. A biasing element urges the lens barrel in a direction outward away from the imager printed circuit board. With the imager printed circuit board attached to the lens holder, the lens barrel is fine adjustable relative to the lens holder. A rear housing attached at the lens holder to encase the imager printed circuit board.

Abstract: A vehicle control method includes recognizing surrounding conditions of a vehicle and controlling a speed and a steering of the vehicle based on the surrounding conditions of the vehicle. The method includes controlling the vehicle to stop before a stop line such that the vicinity of a center or the center in a width direction of the vehicle is aligned with the vicinity of a center or the center in a length direction of the stop line in a width direction of a road.

Abstract: A cleaner for a lidar sensor may include: a blast pipe unit through which wind generated from a fan of an engine passes; and a lidar sensor installed in the blast pipe unit, wherein foreign matter adhering to the surface of the lidar sensor are removed by wind discharged from the blast pipe unit.

Abstract: A parking space recognition system includes an external environment information acquiring device and a parking space candidate detecting device. The parking space candidate detecting device includes: a virtual line calculating unit configured to calculate a virtual line connecting road side ends of parking space lines adjacent to each other; an angle calculating unit configured to calculate an angle between the virtual line and one of the parking space lines; a parking type determining unit configured to determine a parking type; and a parking space candidate setting unit configured to set at least one provisional parking space in an area between the parking space lines based on positions of the parking space lines, and to set an available parking area among the provisional parking space to the parking space candidate.

Abstract: Provided is a system and method that can control a speed of an autonomous vehicle when approaching a vehicle on a shoulder based on a piecewise linear function. Further, the system and method may determine whether to perform a lane change based on various factors. In one example, the method may include storing a piecewise linear function, detecting a vehicle on a shoulder (VOS) of a road based on sensor data sensed by one or more sensors of an ego vehicle approaching the VOS, determining that the VOS is within a predefined distance of the ego vehicle, and in response to the determination, controlling the ego vehicle to slow down and then speed up based on the piecewise linear function.

Abstract: Proposed is a method for controlling a vehicle through a multi System on Chip (SoC) system. Specifically, proposed is a method for controlling a vehicle, the method comprising the steps of: by means of a first SoC, requesting information to a second SoC or an Adaptive Driver Assistant System (ADAS); by means of the first SoC, receiving the information from the second SoC or the ADAS as a response to the request; by means of the first SoC, determining whether a vehicle is safe or not by using the received information; and by means of the first SoC, transmitting a command generated on the basis of the determination to the second SoC or the ADAS.

Abstract: An intelligent entrance detection system is provided where, primarily, any authorized or unauthorized entry to an area of a residential (or small industrial) unit covered by a wireless network is automatically detected from active off-the-shelf devices in that area. After the detection, an identification algorithm is employed to verify if this entry is a legal or illegal action. Based on this verification, either the routine smart home system is activated or a hazardous monitoring period begins to further investigate the suspicious event. If the illegal entrance is confirmed during the hazardous monitoring period, the owner of the property is informed through an intruder alarm protocol. In this invention, all of the analytic and processing steps, including entrance detection, owner identification, and device-free authority verification are designed based on monitoring and quantification of changes in surrounding wireless signals originated by human or object movements within the sensing area.

Abstract: This application provides a collision detection method and related apparatus. An image taken by a photographing unit may be used to predict whether a collision with a to-be-detected target will occur. In a current collision prediction method, a type of the to-be-detected target needs to be determined first based on the image taken by the photographing unit, which requires consuming of a large amount of computing power. In the collision prediction method provided in this application, a change trend of a distance between the to-be-detected target and a vehicle in which the apparatus is located may be determined based on the distances between the to-be-detected target and the vehicle at different moments, to predict a collision between the to-be-detected target and the vehicle. This method can improve efficiency in collision prediction and reduce energy consumption in predicting collision.

Abstract: Proposed herein are an image detection device, a signal control system including the same, and a signal control method. The image detection device includes: a photographing unit configured to acquire an intersection image by capturing an image of an intersection; a control unit configured to generate detection information, including information about a vehicle-occupied or -unoccupied state for each of one or more detection channels set on the plane of the intersection by analyzing the intersection image acquired by the photographing unit; and a communication unit configured to transmit the detection information, generated by the control unit, to the traffic signal controller.

Abstract: A vehicular windshield electronics module includes a housing configured to attach at an interior portion of a vehicle. The housing includes a front portion extending along a windshield of the vehicle and a rear portion extending along a roof of the vehicle. The housing accommodates a camera at the front portion of the housing. The camera generates heat within the housing. Electronic circuitry at the rear portion of the housing generates heat within the housing. An interior rearview mirror assembly includes a mirror head mounted at the housing and at least one electronic component generates heat within the mirror head. An electrically operable fan generates cooling air within the housing. Ducts are formed through the housing so that air flow may pass into and out from the housing. To dissipate heat, the air flow from the fan passes along the camera, along the electronic circuitry and along the mirror head.

Abstract: A vehicular vision system includes a camera disposed at an in-cabin side of a windshield of a vehicle. Responsive to image processing at an ECU of captured frames of image data, the vehicular vision system detects an object present in a field of view of the camera. As the vehicle moves relative to the detected object, captured frames of image data are processed to determine a point of interest, present in multiple captured frames of image data, on the detected object. The vehicular vision system, via processing of captured frames of image data as the vehicle moves relative to the detected object, and based on the determined point of interest present in multiple captured frames of image data, estimates a location in three dimensional space of the determined point of interest and determines distance to the determined point of interest on the detected object.

Abstract: Systems and methods for identifying suspicious entities using autonomous vehicles are disclosed. In one embodiment, a method is disclosed comprising identifying a suspect vehicle using at least one digital camera equipped on an autonomous vehicle; identifying a set of candidate autonomous vehicles; enabling, on each of the candidate autonomous vehicles, a search routine, the search routine instructing each respective autonomous vehicle to coordinate tracking of the suspect vehicle; recording, while tracking the suspect vehicle, a plurality of images of the suspect vehicle; periodically re-calibrating the search routines executed by the autonomous vehicles based on the plurality of images; and re-routing the autonomous vehicles based on the re-calibrated search routines.

Abstract: Aspects of the disclosure relate providing a lane change notification when a vehicle is to perform a lane change. One or more computing devices may generate and display a video, where the video is generated from a perspective of a virtual camera at a default position and default pitch. The one or more computing devices may receive an indication that the vehicle is to perform a lane change from a first lane to a second lane and adjust, after the vehicle receives the indication, the default position and default pitch of the virtual camera to an updated position further above the vehicle relative to ground than the default position and an updated pitch directed more towards the ground than the default pitch. The video may be generated and displayed from the perspective of the virtual camera at the updated position and updated pitch.

Abstract: A control system includes: an input receiver that receives an input from a user; and a controller that, if a security system is set in a notification mode, brings the input receiver into a cancellation preparation state in response to a sensor being changed to a predetermined state. The notification mode is a mode in which a notification is provided after a predetermined time period has elapsed since the sensor has changed to the predetermined state. The cancellation preparation state is a state in which a cancellation input for cancelling a setting of the notification mode is receivable. The controller cancels the setting of the notification mode when the cancellation input is received by the input receiver in the cancellation preparation state.

Abstract: A fusion system for a motor vehicle includes at least two environment sensors, a neural network coupled to the environment sensors for fusing environment information from the environment sensors, a fusion apparatus for fusing environment information from the environment sensors, and a control device coupled to the neural network and the fusion apparatus. The control device is set up to adapt the environment information fused via the neural network, depending on the environment information fused by the fusion apparatus, and to provide the adapted environment information to a driver assistance system of the motor vehicle.

Abstract: A the method for controlling a vehicle: recognizing at least a position of a traffic participant around a vehicle and a road environment around the traffic participant, setting a risk region for the traffic participant based on at least the recognized position of the traffic participant, correcting the set risk region based on a width of a sidewalk where the traffic participant is present or a width of a roadway around the traffic participant which is the recognized road environment, and controlling a speed and steering of the vehicle based on the corrected risk region.

Abstract: A control section generates an overhead surround view composite image by combining image data acquired by plural cameras, and, combines the image data to generate a wide-range rear image, a left rear image, a right rear image, a front image and a rear image. The control section calculates angles of view of the image data that were used in generating the wide-range rear image, the left rear image, the right rear image, the front image and the rear image, respectively. The control section displays any of the wide-range rear image, the left rear image, the right rear image, the front image and the rear image in a first display region, and displays information expressing angles of view corresponding to images displayed in the first display region in a second display region in a manner of being superimposed on the overhead surround view composite image.

Abstract: A vehicular rear view monitor assembly includes an extender element configured to be disposed at a rear portion of a vehicle. The extender element includes an extender portion and an end portion, with a vehicle element attached at the end portion of the extender element. A rear backup camera assembly is at least partially disposed in a hollow portion of the extender portion. The rear backup camera assembly includes a CMOS color camera. With the extender element disposed at the rear portion of the vehicle, the CMOS color camera of the rear backup camera assembly captures images of at least an area immediately rearward of the vehicle. With the extender element disposed at the rear portion of the vehicle, the extender element is incapable of extending such that the rear backup camera assembly is non-movable relative to the rear portion of the vehicle.

Abstract: Among other things, we describe systems and method for improving vehicle operations using movable sensors. A vehicle can be configured with one or more sensors having the capability to be extended and/or rotated. The one or more movable sensors can be caused to move based on a determined context of the vehicle, to capture additional data associated with the environment in which the vehicle is operating.

Abstract: An image processing method for harmonizing images acquired by a first camera and a second camera connected to a vehicle and arranged in such a way as their fields of view cover a same road space at different times as the vehicle travels along a travel direction is disclosed. The method includes: acquiring by a selected camera, a first image at a first time; selecting a first region of interest bounding a road portion from the first image; sampling the first region of interest; acquiring by the other camera, a second image in such a way that the road portion is included in a second region of interest; sampling the second region of interest; and determining one or more correction parameters for harmonizing images acquired by the first and second cameras, based on a comparison between the image content of the first and second regions of interest.

Abstract: A vehicular vision system includes an interior-viewing camera disposed in a vehicle and viewing a driver of the vehicle, and a forward-viewing camera disposed at the vehicle and viewing at least forward of the vehicle. Responsive to image processing of image data captured by the interior-viewing camera, at least one selected from the group consisting of (i) position of the driver's head is determined and (ii) direction that the driver's eyes are viewing is determined. Responsive to image processing of image data captured by the forward-viewing camera and to image processing of image data captured by the interior-viewing camera, an object present exterior of the equipped vehicle and viewable by the driver is detected.

Abstract: A trim element for a motor vehicle that includes at least one glass sheet having an absorption coefficient comprised between 5 m?1 and 15 m?1 in the wavelength range from 750 to 1650 nm and having an external and an internal faces. An infrared-based remote sensing device in the wavelength range from 750 to 1650 nm is placed behind the internal face of the glass sheet.

Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

Abstract: A side camera for a vehicle comprises: a main body disposed at a left-hand and/or a right-hand side of the vehicle; a blind-spot view camera of which at least a portion is accommodated in the main body and being configured to photograph a view in lateral and rearward directions; a surround view camera (SVC) of which at least a portion is accommodated in the main body and being configured to photograph a view in a lateral direction; and a blind-spot view monitor disposed inside the vehicle to transmit an image captured by the blind-spot view camera. When the blind-spot view camera fails, an image transformation process is performed based on an image captured by the SVC and transmitted to the blind-spot view monitor. When the blind-spot view monitor fails, an image captured by the blind-spot view camera is transmitted to another display device in the vehicle.

Abstract: Systems and methods are disclosed for locating a retroreflective object in a digital image and/or identifying a feature of the retroreflective object in the digital image. In certain environmental conditions, e.g. on a sunny day, or when the retroreflective material is damaged or soiled, it may be more challenging to locate the retroreflective object in the digital image and/or to identify a feature of the object in the digital image. The systems and methods disclosed herein may be particularly suited for object location and/or feature identification in situations in which there is a strong source of ambient light (e.g. on a sunny day) and/or when the retroreflective material on the object is damaged or soiled.

Abstract: The present invention relates to a lateral image processing method, and the method includes recognizing areas in which amounts of image change are different from each other in an image captured by a camera; determining whether a car is in a driving state; and converting an image in one area in which an amount of image change is different according to the driving state of the car.

Abstract: Provided is a vehicle capable of performing safe and efficient autonomous driving by acquiring accurate information about surrounding objects based on behavior control of the vehicle. The vehicle includes: a camera configured to acquire a surrounding image of the vehicle which includes one or more objects; at least one sensor configured to acquire position data of the one or more objects; and a controller configured to identify identification areas respectively corresponding to the one or more objects based on the surrounding image and the position data, and if a part of the identification area overlaps an occlusion area, control the vehicle to separate the identification area and the occlusion area from each other, to perform autonomous driving.