Apparatus and method of safety support for vehicle

A vehicle safety support apparatus comprising:

• a driver monitoring sensor configured to monitor a driver;
• an external environment monitoring sensor configured to monitor an external environment of a vehicle;
• and
• at least one processor configured to:
• determine whether the vehicle is in an immediate hazard situation based on data acquired from the driver monitoring sensor and the external environment monitoring sensor;
• determine, in response to determining that the vehicle is in the immediate hazard situation, whether to perform a recovery maneuver or a rescue maneuver based on the data acquired from the driver monitoring sensor and the external environment monitoring sensor to get out of the immediate hazard situation;
• perform, in response to determining to perform the rescue maneuver, autonomous driving to move the vehicle to a safe area by taking over a driving control from the driver;
• and
• a driver input filtering unit configured to filter a vehicle control input by the driver,
• wherein the at least one processor is configured to control the driver input filtering unit to block the vehicle control input from the driver in response to determining to perform the rescue maneuver.