Bad weather judgment apparatus and bad weather judgment method thereof

A bad weather judgment method of a bad weather judgment apparatus, the bad weather judgment apparatus comprising a target recognizer, a counter, and a bad weather judger, the method comprising:

• recognizing, by the target recognizer, targets in detection areas of a plurality of heterogeneous sensors based on sensor recognition information received from the heterogeneous sensors;
• determining, by the bad weather judger, whether a same target among the targets is present in bad weather judgment zones of the detection areas of the heterogeneous sensors;
• incrementing or decrementing, by the counter, the number of cases based on detection states of the heterogeneous sensors about whether the same target is present in the bad weather judgment zones;
• determining, by the bad weather judger, whether the number of the cases is greater than a threshold value;
• and
• judging, by the bad weather judger, current weather to be bad weather when the number of the cases is greater than the threshold value.

A vehicle comprising:

• heterogeneous sensors;
• and
• a bad weather judgment apparatus configured to judge bad weather by determining whether a same target is present in bad weather judgment zones of detection areas of the heterogeneous sensors,
• wherein the bad weather judgment apparatus comprises:
• a target recognizer configured to recognize targets in the detection areas based on sensor recognition information received from the heterogeneous sensors;
• a counter configured to count the number of cases based on detection states of the heterogeneous sensors about the same target;
• and
• a bad weather judger configured to determine whether the same target is present in the bad weather judgment zones of the detection areas of the heterogeneous sensors, control the counter to increment or decrement the number of the cases based on detection states of the heterogeneous sensors about whether the same target is present in the bad weather judgment zones, and judge current weather to be the bad weather when the number of the cases is greater than a threshold value.