A method to control a velocity of a vehicle, the method comprising: acquiring an input image (200, 400) with respect to the outside of the vehicle at a predetermined point of view from a side of the vehicle; segmenting the input image (200, 400) into regions, the regions including a road region (310, 510) indicating a road on which the vehicle is to travel; identifying the road region (310, 510) from the input image (200, 400); extracting, as at least one end point (211, 311, 411, 511) of the road region (310, 510), a pixel at a farthest distance from said side of the vehicle in the input image, among pixels included in the road region; measuring a visibility distance between an end point location corresponding to the end point and a location of the vehicle, the visibility distance being a maximum distance that is recognizable on a road by a vehicle velocity control apparatus; and controlling the velocity of the vehicle based on the measured visibility distance; wherein the measuring of the visibility distance comprises: generating a vicinity distance map with respect to a vicinity of the vehicle using a light imaging, detection, and ranging (LiDAR) sensor and/or a radar sensor; calibrating the vicinity distance map to the input image by matching the vicinity distance map to the input image; and selecting a distance corresponding to the end point of the input image as the visibility distance, from the vicinity distance map by mapping each point of the vicinity distance map to a corresponding pixel in the input image. acquiring an input image (200, 400) with respect to the outside of the vehicle at a predetermined point of view from a side of the vehicle; segmenting the input image (200, 400) into regions, the regions including a road region (310, 510) indicating a road on which the vehicle is to travel; identifying the road region (310, 510) from the input image (200, 400); extracting, as at least one end point (211, 311, 411, 511) of the road region (310, 510), a pixel at a farthest distance from said side of the vehicle in the input image, among pixels included in the road region; measuring a visibility distance between an end point location corresponding to the end point and a location of the vehicle, the visibility distance being a maximum distance that is recognizable on a road by a vehicle velocity control apparatus; and controlling the velocity of the vehicle based on the measured visibility distance; wherein the measuring of the visibility distance comprises: generating a vicinity distance map with respect to a vicinity of the vehicle using a light imaging, detection, and ranging (LiDAR) sensor and/or a radar sensor; calibrating the vicinity distance map to the input image by matching the vicinity distance map to the input image; and selecting a distance corresponding to the end point of the input image as the visibility distance, from the vicinity distance map by mapping each point of the vicinity distance map to a corresponding pixel in the input image. generating a vicinity distance map with respect to a vicinity of the vehicle using a light imaging, detection, and ranging (LiDAR) sensor and/or a radar sensor; calibrating the vicinity distance map to the input image by matching the vicinity distance map to the input image; and selecting a distance corresponding to the end point of the input image as the visibility distance, from the vicinity distance map by mapping each point of the vicinity distance map to a corresponding pixel in the input image.