Vehicle Control Apparatus And Method Thereof

A vehicle control apparatus and a method thereof are provided. The vehicle control apparatus includes a sensor (e.g., light detection and ranging (LiDAR)), a communication circuit, and a processor. The processor receives a signal indicating that a vehicle has entered a specified space that is identified via a sensor, divides the specified space into a lower space and an upper space based on a vertical axis, generates a lower box corresponding to a first external object in the lower space, generates an upper box corresponding to a second external object in the upper space, determines whether the upper box at least partially overlaps with the lower box, and outputs a signal indicating that the second external object and the first external object are a same object.