Apparatus and method for controlling autonomous vehicle

An apparatus for controlling an autonomous vehicle,

• the apparatus comprising:
• a processor;
• and
• a memory configured to be operatively connected to the processor and to store at least one code performed at the processor,
• wherein the memory stores a code that, when executed by the processor, causes the processor to
• control the autonomous vehicle to travel on a basis of a distance from a preceding vehicle in a travel lane in which the autonomous vehicle travels or a preset speed,
• determine a risk level of a lane change on a basis of a speed (equation here)) of the autonomous vehicle, a speed of a side vehicle traveling in a target lane of a lane change, and a distance between the autonomous vehicle and the side vehicle upon occurrence of a lane change request, wherein the side vehicle comprises a side-front vehicle and a side-rear vehicle that travel in the target lane of the lane change,
• perform longitudinal or lateral control for the lane change on a basis of the risk level, and
• the memory stores a code that causes the processor to determine a first safety distance based on the side-front vehicle in proportion to the speed of the autonomous vehicle, determine a second safety distance based on the side-rear vehicle in proportion to a speed of the side-rear vehicle, and determine the risk level on a basis of the first safety distance and the second safety distance,
• wherein the determining of the second safety distance comprises
• determining the first safety distance and the second safety distance on the basis of a first weight assigned to each of the speed of the autonomous vehicle and the speed of the side-rear vehicle and a second weight assigned to each of the first result value and the second result value, and
• the first weight and the second weight are preset on the basis of a change in the speed of the side-rear vehicle due to the lane change of the autonomous vehicle and a change in the speed of the autonomous vehicle due to deceleration of the side-front vehicle during the lane change of the autonomous vehicle;
• and
• wherein the setting of the preceding vehicle or the side vehicle as the target vehicle comprises
• setting a virtual vehicle between the preceding vehicle and the side vehicle on the basis of a degree of approach to the target lane and
• setting the virtual vehicle as the target vehicle in an LC mode in which the autonomous vehicle performs the lane change to the target lane.