OBJECT RECOGNITION METHOD USING ULTRASONIC DATA AUGMENTED BY HETEROGENEOUS SENSOR FUSION AND VEHICLE

Disclosed herein is an object recognition method using ultrasonic data augmented by heterogeneous sensor fusion and vehicle. The method may include generating, based on sensor fusion of ultrasonic data and heterogeneous sensor data acquired from a plurality of sensors of the vehicle, speed information associated with each cell of a view map representing a surrounding environment of the vehicle. The speed information may indicate a speed of the dynamic object corresponding to the cell. The method may further include: adjusting, based on a behavior of a dynamic object in the view map, a position of a cell, of the view map, corresponding to the dynamic object in the surrounding environment; generating, based on speed information of the position-adjusted cell, pseudo-ultrasonic data; recognizing, based on the pseudo-ultrasonic data and subsequent heterogeneous sensor data, an object in the surrounding environment; and controlling, based on the recognized object, an operation of the vehicle.