Apparatus for controlling vehicle and method thereof

An apparatus for controlling a vehicle, the apparatus comprising:

• a first sensor;
• a second sensor;
• and
• a processor,
• wherein the processor is configured to:
• obtain, from the first sensor and the second sensor, data sets related to a moving object in front of the vehicle that is driving along a first axis;
• project a plurality of points included in the data sets onto a plane formed by a second axis and a third axis, wherein:
• the plurality of points indicate a rear surface of the moving object;
• the second axis, being perpendicular to the first axis, lies in a horizontal plane;
• and
• the third axis, being perpendicular to the first axis and the second axis, lies in a vertical plane;
• determine, based on the projection,
• a plurality of first points, of the plurality of points, obtained by the first sensor, and
• a plurality of second points, of the plurality of points, obtained by the second sensor;
• determine a first subset of points included in the plurality of first points and a second subset of points included in the plurality of second points;
• obtain, based on the first subset, a first polygon;
• obtain, based on the second subset, a second polygon;
• obtain, based on points of the first polygon and the second polygon, a vector indicating a separation between the first subset and the second subset;
• determine, based on the vector, whether the plurality of first points match the plurality of second points;
• adjust, based on the determination of whether the plurality of first points match the plurality of second points, a separation between the plurality of first points and the plurality of second points;
• and
• output a signal indicating the adjusted separation.