Vehicle control device and vehicle control method

Abstract

A vehicle control device includes a Light Detection and Ranging (LiDAR), a memory that stores map information, and a processor. The processor may filter datasets including a road edge portion associated with a position of a vehicle from the map information according to a first specified condition, obtain a plurality of first partial line segments, identify a plurality of second partial line segments from a plurality of line segments formed by contour points corresponding to the road edge portion through the LiDAR, identify pairs of the plurality of second partial line segments and the plurality of first partial line segments, output a position of the vehicle in a second coordinate system different from a first coordinate system based on applying a specified algorithm to each of the pairs, and control the vehicle based on the position of the vehicle in the second coordinate system.