VEHICLE CONTROL APPARATUS AND METHOD THEREOF

An apparatus for controlling vehicle driving comprises a sensor to obtain a cluster of points, a memory storing a neural network model, and a processor. The processor is configured to determine a first heading direction of a virtual box, generated from the cluster of points, by inputting the cluster into the neural network model. Based on identifying the first heading direction in one of several regions, the apparatus determines an angle between a reference axis within that region and the first heading direction. The regions are divided based on the virtual box's center. Based on this angle, the apparatus outputs the virtual box assigned with the first heading direction or a second heading direction opposite to the first heading direction. The apparatus outputs a signal associated with the virtual box's heading direction and controls vehicle driving based on this signal.