A V2V communication and lidar-based vehicle tracking apparatus and method are disclosed, and the V2V communication and lidar-based vehicle tracking method according to an embodiment of the present application includes acquiring lidar data for a peripheral area of a first vehicle , receiving vehicle data including location information, driving information, and shape information of a second vehicle traveling in the surrounding area based on V2V (Vehicle to Vehicle) communication, and at least one of the lidar data and the vehicle data and tracking the second vehicle based on the .
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