A method for detecting a vehicle, comprising: a step of obtaining a disparity map including a vehicle region; a step of obtaining a vehicle candidate region from the disparity map; a step of determining a degree of symmetry of the vehicle candidate region; and a step of detecting the vehicle based on the determined degree of symmetry of the vehicle candidate region, characterized in that the difference between the disparity values of the left and right outer edges of the vehicle candidate region is less than a predetermined threshold the step of determining the degree of symmetry of the vehicle candidate region comprising: a step of determining an axis of symmetry of the vehicle candidate region; a step of disposing a contractible template according to the shape of the vehicle, wherein the contractible template is formed by a predetermined number of subregions with a predetermined shape disposed on predetermined positions symmetrically with respect to the axis of symmetry and wherein the contractible template can be contracted based on the width or height of the vehicle candidate region; a step of sampling points corresponding to one another with respect to the axis of symmetry located in the corresponding subregions of the template and calculating their gradient, if the edge of the vehicle candidate region lies in a corresponding subregion of the template; a step of calculating the degree of symmetry between the parts of the vehicle candidate region located in the corresponding subregions based on the calculated gradient of the sampling points located in the corresponding subregions respectively; and a step of calculating the degree of symmetry of the vehicle candidate region based on the degrees of symmetry between all parts of the vehicle candidate region located in the corresponding subregions. a step of obtaining a disparity map including a vehicle region; a step of obtaining a vehicle candidate region from the disparity map; a step of determining a degree of symmetry of the vehicle candidate region; and a step of detecting the vehicle based on the determined degree of symmetry of the vehicle candidate region, characterized in that the difference between the disparity values of the left and right outer edges of the vehicle candidate region is less than a predetermined threshold the step of determining the degree of symmetry of the vehicle candidate region comprising: a step of determining an axis of symmetry of the vehicle candidate region; a step of disposing a contractible template according to the shape of the vehicle, wherein the contractible template is formed by a predetermined number of subregions with a predetermined shape disposed on predetermined positions symmetrically with respect to the axis of symmetry and wherein the contractible template can be contracted based on the width or height of the vehicle candidate region; a step of sampling points corresponding to one another with respect to the axis of symmetry located in the corresponding subregions of the template and calculating their gradient, if the edge of the vehicle candidate region lies in a corresponding subregion of the template; a step of calculating the degree of symmetry between the parts of the vehicle candidate region located in the corresponding subregions based on the calculated gradient of the sampling points located in the corresponding subregions respectively; and a step of calculating the degree of symmetry of the vehicle candidate region based on the degrees of symmetry between all parts of the vehicle candidate region located in the corresponding subregions. a step of determining an axis of symmetry of the vehicle candidate region; a step of disposing a contractible template according to the shape of the vehicle, wherein the contractible template is formed by a predetermined number of subregions with a predetermined shape disposed on predetermined positions symmetrically with respect to the axis of symmetry and wherein the contractible template can be contracted based on the width or height of the vehicle candidate region; a step of sampling points corresponding to one another with respect to the axis of symmetry located in the corresponding subregions of the template and calculating their gradient, if the edge of the vehicle candidate region lies in a corresponding subregion of the template; a step of calculating the degree of symmetry between the parts of the vehicle candidate region located in the corresponding subregions based on the calculated gradient of the sampling points located in the corresponding subregions respectively; and a step of calculating the degree of symmetry of the vehicle candidate region based on the degrees of symmetry between all parts of the vehicle candidate region located in the corresponding subregions.