FIELD: transportation.
SUBSTANCE: invention relates to vehicle safety systems. Method of controlling a vehicle with allowance for surrounding objects comprises steps of receiving a first and a second plurality of points of three-dimensional data at corresponding first and second times, determining a first rectangular boundary for an object from a first plurality of points of three-dimensional data, determining a second rectangular boundary with a centre on the object based on joint probabilities of points in a first rectangular boundary and points in the second plurality of 3D data points and the vehicle is controlled based on the object.
EFFECT: higher safety of vehicle driving is achieved.
20 cl, 8 dwg
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