Integrated control apparatus and method for normal and emergency control of vehicle

An integrated control apparatus for a vehicle, comprising:

• one or more sensors disposed in the vehicle, each of the one or more sensors being configured to provide driving environment information by sensing driving environments of the vehicle during real-time driving of the vehicle;
• an integrated controller configured to:
• respectively generate, based on one or more pieces of the driving environment information received from the one or more sensors and based on one or more pieces of driving condition information of the vehicle received from a network of the vehicle during the real-time driving of the vehicle, a basic control command for the real-time driving control of the vehicle with respect to movement of the vehicle in longitudinal and/or transverse directions of the vehicle and, at a time of a determined emergency occurrence, an emergency control command with respect to the longitudinal and/or the transverse directions of the vehicle for emergency driving control of the vehicle;
• and
• generate a final control command, including:
• generate, at times other than the time of the determined emergency occurrence, the final control command based on the basic control command;
• generate, at the time of the determined emergency occurrence, the final control command to be one of a longitudinal or transverse movement-representing value represented by the emergency control command in response to a sign of the value represented by the emergency control command having a first relationship with respect to a sign of a value represented by the basic control command at the time of the determined emergency occurrence;
• and
• generate, at the time of the determined emergency occurrence, the final control command to include a value of a combination of the value represented by the emergency control command and the value represented by the basic control command in response to the sign of the value represented by the emergency control command having a second relationship, different from the first relationship, with respect to the sign of the value represented by the basic control command;
• and
• a vehicle individual controller configured to control the real-time driving of the vehicle based on the final control command received from the integrated controller.