1. An apparatus for recognizing a vehicle, the apparatus comprising: a sensor configured to provide point cloud data corresponding to a front object detected by using a LiDAR; a shape determiner configured to determines a shape corresponding to the front object by analyzing the point cloud data provided from the sensor; a receiving sensitivity analyzer configured to analyze a receiving sensitivity change corresponding to each point of the point cloud data representing a shape of a vehicle provided by the sensor based on the shape of the vehicle; a decider configured to decide on whether the front object is a vehicle according to the shape corresponding to the front object and the receiving sensitivity change corresponding to points of the point cloud; and a detector configured to recognize and detect the front object as the vehicle based on the result decided by the decider.