US Patent 11410428 Vehicle and control method thereof

A vehicle includes a sensor unit configured to acquire positional information of at least one object located in the vicinity of the vehicle, the sensor unit comprising a plurality of sensor modules. A controller is configured to determine a tracking filter based on a correspondence relationship between the plurality of sensor modules and the at least one object and to track the position of the at least one object using the positional information of the at least one object and the tracking filter.