Abstract: An object detection method of a vehicle LiDAR system includes setting grids including a host vehicle lane according to a lane width on a grid map which is generated based on freespace point data and object information, and calculating a road boundary candidate based on occupation percentages of objects by lane calculated based on the object information and distributions of the freespace point data; and outputting road boundary information by correcting the calculated road boundary candidate based on information on a road boundary candidate determined at a previous time point.