Driver assistance apparatus and method of controlling the same

A method for assisting driving of a host vehicle, the method comprising:

• obtaining, by a global positioning system (GPS) module, position data of the host vehicle;
• obtaining first image data for the external field of view of the host vehicle by a Light Detection And Ranging (LiDAR) installed in the host vehicle to have an external field of view of the host vehicle;
• receiving, by a communication interface, second image data obtained by an external LiDAR disposed at a position different from the host vehicle;
• and
• comparing, by a controller, the first image data and the second image data, and correcting the position data when an error occurs as a result of the comparison.

A non-transitory computer readable-medium storing computer-executable instructions when executed by a processor, the computer readable-medium comprising:

• program instructions that obtain, by a global positioning system (GPS) module, position data of a host vehicle;
• program instructions that obtain first image data for the external field of view of the host vehicle by a Light Detection And Ranging (LiDAR) installed in the host vehicle to have an external field of view of the host vehicle;
• program instructions that receive, by a communication interface, second image data obtained by an external LiDAR disposed at a position different from the host vehicle;
• and
• program instructions that compare, by a controller, the first image data and the second image data, and correcting the position data when an error occurs as a result of the comparison.