A method for object distance estimation based on at least one subject camera by performing pitch calibration of the subject camera with additional information acquired through Vehicle-to-Vehicle (V2V) communication, comprising steps of: (a) a computing device, if at least one reference image is acquired through the subject camera, performing (i) a process of instructing an initial pitch calibration module to apply at least one pitch calculation operation to the reference image, to thereby generate an initial estimated pitch, which is a value generated by estimating an angle between an optical axis of the subject camera and a ground, and (ii) a process of instructing an object detection network to apply at least one neural network operation to the reference image, to thereby generate reference object detection information on one or more reference objects in the reference image; (b) the computing device instructing an adjusting pitch calibration module to (i) to select one or more specific reference objects, among the reference objects, which satisfy a first condition on whether each of the reference objects has a specific class corresponding to a capability to perform V2V communication, and to select at least one target object, among the specific reference objects, which satisfies at least one of (i) a second condition on whether each of specific reference bounding boxes including each of the specific reference objects is located in at least one center area of the reference image, where sides of the specific reference bounding boxes included therein do not border boundaries of the reference image and (ii) a third condition on whether an aspect ratio of each of the specific reference bounding boxes is smaller than an estimation threshold value, (ii) calculate at least one estimated target height of the target object by referring to the initial estimated pitch and a target relative coordinate of the target object from a subject autonomous vehicle including the subject camera, (iii) calculate at least one error corresponding to the initial estimated pitch by referring to the estimated target height and at least one Ground-Truth target height acquired through V2V communication, and (iv) determine at least one adjusted estimated pitch on the subject camera by using the error; (c) the computing device instructing the object detection network and a distance calculation module to generate autonomous driving information including information on distances, calculated by referring to the adjusted estimated pitch, between the subject autonomous vehicle and surrounding objects included in an autonomous driving image captured by the subject camera. (a) a computing device, if at least one reference image is acquired through the subject camera, performing (i) a process of instructing an initial pitch calibration module to apply at least one pitch calculation operation to the reference image, to thereby generate an initial estimated pitch, which is a value generated by estimating an angle between an optical axis of the subject camera and a ground, and (ii) a process of instructing an object detection network to apply at least one neural network operation to the reference image, to thereby generate reference object detection information on one or more reference objects in the reference image; (b) the computing device instructing an adjusting pitch calibration module to (i) to select one or more specific reference objects, among the reference objects, which satisfy a first condition on whether each of the reference objects has a specific class corresponding to a capability to perform V2V communication, and to select at least one target object, among the specific reference objects, which satisfies at least one of (i) a second condition on whether each of specific reference bounding boxes including each of the specific reference objects is located in at least one center area of the reference image, where sides of the specific reference bounding boxes included therein do not border boundaries of the reference image and (ii) a third condition on whether an aspect ratio of each of the specific reference bounding boxes is smaller than an estimation threshold value, (ii) calculate at least one estimated target height of the target object by referring to the initial estimated pitch and a target relative coordinate of the target object from a subject autonomous vehicle including the subject camera, (iii) calculate at least one error corresponding to the initial estimated pitch by referring to the estimated target height and at least one Ground-Truth target height acquired through V2V communication, and (iv) determine at least one adjusted estimated pitch on the subject camera by using the error; (c) the computing device instructing the object detection network and a distance calculation module to generate autonomous driving information including information on distances, calculated by referring to the adjusted estimated pitch, between the subject autonomous vehicle and surrounding objects included in an autonomous driving image captured by the subject camera.