Vehicle control method that compares a light distribution pattern extracted from an image captured by a camera with a reference light distribution pattern

A method for controlling a vehicle including at least one camera and a lamp, the method comprising:

• controlling the at least one camera to capture at least one image of an area in front of the vehicle;
• extracting, from the at least one image, a light distribution pattern formed by the lamp in the area in front of the vehicle;
• and
• performing at least one control related to the extracted light distribution pattern, based on a comparison result obtained by comparing the extracted light distribution pattern with a reference light distribution pattern,
• wherein performing the at least one control related to the extracted light distribution pattern is performed based on a determination that a vertical structure is located in front of the vehicle,
• wherein the method further comprises:
• determining that a distance between the vertical structure and a first part of the vehicle is a first distance, and
• generating a control command for the vehicle to move the vehicle so that the distance between the vertical structure and the first part of the vehicle is a second distance that satisfies a predetermined condition, and
• wherein extracting, from the at least one image, the light distribution pattern formed by the lamp is performed after completion of the movement of the vehicle by the control command.