Apparatus for identyfing object priority for autonomous driving control of vehicle

An apparatus of a vehicle, the apparatus comprising:

• a sensor;
• and
• a processor configured to:
• determine an object located in front of the vehicle based on contour points in a first frame obtained via the sensor at a first time and further based on a code, obtained at a second time later than the first time, indicating an error;
• determine information indicating at least one of:
• a lane in which the object is located,
• a longitudinal component of a distance between the object and the vehicle,
• a lateral component of the distance,
• a classification of the object,
• a quantity of a portion of the contour points that is included in an object box indicating the object, or
• a size of the object box;
• determine whether the object is included in a first group among a plurality of groups divided according to an importance of the object, based on the information;
• sort the object and at least one other object included in the first group, based on the longitudinal component;
• determine a priority of the object among all objects identified in the first frame, based on a priority of the first group and a result of the sorting of the object;
• select the object as a display target in a second frame, obtained at a third time later than the second time, based on a determination that the priority of the object is greater than a specified priority;
• and
• control, based on the object being selected as the display target, autonomous driving of the vehicle.