Vehicle control apparatus and method thereof

A vehicle control apparatus, comprising:

• at least one sensor;
• a memory;
• and
• a processor,
• wherein the processor is configured to:
• generate, based on receiving information associated with a first plurality of points of an object, a virtual meta object, wherein the first plurality of points are identified by a detection result of the at least one sensor and positioned above a first reference height;
• determine whether a converted virtual track is associated with the virtual meta object, wherein a virtual track stored in a first space of the memory is converted into the converted virtual track corresponding to a time point when the virtual meta object is generated;
• determine whether an existence of the virtual meta object is valid, based on a determination that the virtual meta object and the converted virtual track are not associated with each other;
• determine whether a virtual track is identified in a first area formed at a distance spaced apart from a vehicle, based on not generating the virtual meta object and not receiving the information, wherein the distance is greater than a first distance;
• store the virtual track identified in the first area in a second space different from the first space of the memory;
• and
• determine whether to remove at least one virtual box obtained from a second plurality of points identified by a detection result of the at least one sensor, using the virtual track stored in the second space,
• wherein the virtual meta object comprises a closed boundary which is formed by the first plurality of points, wherein the first plurality of points corresponds to the object that comprises a road sign, and
• wherein the virtual track comprises a second closed boundary formed by a third plurality of points obtained at a time point different from the time point when the virtual meta object is generated, and wherein the second closed boundary corresponds to the object.