Apparatus for Controlling Vehicle and Method Thereof

An apparatus for controlling autonomous driving of a vehicle is introduced. The apparatus comprises a sensor to capture multiple points representing the vehicle's surrounding environment and a processor to analyze these points. The processor maps the points onto a grid derived from a vehicle-centered coordinate system. Using a first algorithm, the processor identifies the locations of the points on the grid. A second algorithm calculates eigenvalues or eigenvectors based on points designated as a specific type. The processor checks if a predefined condition is met by evaluating factors such as the number of points in a grid, the direction of eigenvectors, and point locations. If the condition is satisfied, the processor determines that the points correspond to another designated type, based on the eigenvalues or eigenvectors. The apparatus then generates a signal indicating the classification of the points and controls the vehicle's autonomous driving based on such information.