A method for controlling an operation system of a vehicle, the method comprising: first sensing an object around the vehicle driving in a first section, by at least one sensor, whereby the at least one sensor comprises a camera; storing fixed object information based on first object information, the first object information being based on the first sensing, by a processor, the first object information including fixed object information and mobile object information, the fixed object information being based on an object fixed at a certain position; second sensing an object around the vehicle, the vehicle driving in the first section, by the at least one sensor; and comparing the stored fixed object information with second object information based on the second sensing, the second object information including fixed object information and mobile object information, and generating a driving route based on a result of the comparing the stored fixed object information with the second object information, by the processor, wherein the generation of a driving route comprises: generating mobile object information based on the second object information by the processor; determining whether there is any mobile object located within a predetermined distance from the vehicle based on the generated mobile object information, by the processor; generating the driving route based on the stored fixed object information and the second object information when it is determined that no mobile object is located within the predetermined distance from the vehicle, by the processor; generating the driving route based on the second object information for an area including the mobile object when it is determined that a mobile object is located within the predetermined distance from the vehicle by the processor; dividing an area around the vehicle into a first area to which a head lamp of the vehicle projects light and a second area to which the head lamp of the vehicle does not project light by the processor; generating map data for the first area by combining the stored fixed object information with the second object information, and generating map data for the second area by combining the stored fixed object information with mobile object information whereby the processor generates said mobile object information by extracting only information determined to be information about a mobile object from the second object information; and generating the driving route based on the map data by the processor. first sensing an object around the vehicle driving in a first section, by at least one sensor, whereby the at least one sensor comprises a camera; storing fixed object information based on first object information, the first object information being based on the first sensing, by a processor, the first object information including fixed object information and mobile object information, the fixed object information being based on an object fixed at a certain position; second sensing an object around the vehicle, the vehicle driving in the first section, by the at least one sensor; and comparing the stored fixed object information with second object information based on the second sensing, the second object information including fixed object information and mobile object information, and generating a driving route based on a result of the comparing the stored fixed object information with the second object information, by the processor, generating mobile object information based on the second object information by the processor; determining whether there is any mobile object located within a predetermined distance from the vehicle based on the generated mobile object information, by the processor; generating the driving route based on the stored fixed object information and the second object information when it is determined that no mobile object is located within the predetermined distance from the vehicle, by the processor; generating the driving route based on the second object information for an area including the mobile object when it is determined that a mobile object is located within the predetermined distance from the vehicle by the processor; dividing an area around the vehicle into a first area to which a head lamp of the vehicle projects light and a second area to which the head lamp of the vehicle does not project light by the processor; generating map data for the first area by combining the stored fixed object information with the second object information, and generating map data for the second area by combining the stored fixed object information with mobile object information whereby the processor generates said mobile object information by extracting only information determined to be information about a mobile object from the second object information; and generating the driving route based on the map data by the processor.