A method to control a velocity of a vehicle, the method comprising: acquiring an input image with respect to the outside of the vehicle at a predetermined point of view from a side of the vehicle; segmenting the input image into regions, the regions including a road region indicating a road on which the vehicle is to travel; identifying the road region from the input image ; extracting, as at least one end point of the road region , 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 with respect to the outside of the vehicle at a predetermined point of view from a side of the vehicle; segmenting the input image into regions, the regions including a road region indicating a road on which the vehicle is to travel; identifying the road region from the input image ; extracting, as at least one end point of the road region , 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. <EOS>