1. An apparatus for a vehicle comprising: a plurality of sensors that detect objects external to the vehicle; and circuitry configured to: extract object reference data for first objects meeting at least one criteria from route information that includes position data and feature data of objects along a vehicle route according to the route information, store the object reference data including feature data and position data identifying positions of the first objects, recognize positions and features of second objects from detected object information from the plurality of sensors, identify the first objects from the second objects based on a determined position of the vehicle by comparing features of the second objects that are recognized to the feature data of the first objects stored in the local database, determine at least one first object has moved or a feature of at least one first object corresponding to the at least one criteria has changed and update position data or feature data for the at least one first object in the object reference data to identify the at least one first object, and operate the vehicle to move to a position based on position data of identified objects.