Vehicle Object Detection Data Processing Device and Method

An apparatus for controlling autonomous driving of a vehicle is introduced. The apparatus may comprise a sensor mounted at a reference point on the vehicle, configured to acquire sensing data. The apparatus may also comprise processors and a memory storing programs that, when executed, configured to cause the apparatus to generate a first cluster of points based on the reference point and sensing data, create a first range image based on the first cluster of points, produce a second range image based on a distance value and a virtual reference point on the ground, extract first and second areas from the range images, determine ground contact points, generate a third range image incorporating these areas, determine a third area with an object in the third range image, generate vehicle masking data based on the third area, and control autonomous vehicle driving based on a signal indicating the vehicle masking data.