An apparatus and method for perceiving and reporting a neighborhood object, the apparatus including: a message analysis unit to analyze information of an alive message received from the neighborhood object and to determine if the analyzed information lies within a predetermined range; a neighborhood object information control unit to update status information of the neighborhood object by adjusting a transmission cycle, according to which the neighborhood object transmits the alive message, based on a result of the determination by the message analysis unit; and a reporting unit to report the updated status information of the neighborhood object according to a reporting condition.