Autonomous driving control apparatus and method thereof

An autonomous driving control apparatus, comprising:

• a sensor device;
• a memory storing computer-executable code;
• and
• a controller operatively connected with the sensor device and the memory, the controller being configured to execute the code, wherein the code comprises instructions for the controller to cause the autonomous driving control apparatus to:
• obtain sensor performance verification information based on identification information of at least one object identified using the sensor device;
• obtain driving performance verification information including one of or any combination of internal information of a host vehicle, external information of the host vehicle, geographic information of the host vehicle, and driving information of the host vehicle;
• adjust at least one control parameter for driving control of the host vehicle based on one of or both of the sensor performance verification information and the driving performance verification information;
• raise a minimum speed for starting stopped object response control among the at least one control parameter, based on the sensor performance verification information;
• identify whether a number of first objects is greater than a first number and whether a number of second objects is greater than a second number, based on the identification information of the at least one object, wherein:
• the first objects are identified as having a first performance measured by the sensor device greater than a first threshold performance, and
• the second objects are identified as having a second performance measured by the sensor device less than a second threshold performance;
• and
• maintain the at least one control parameter, in response to the number of the first objects being less than or equal to the first number and in response to the number of the second objects being less than or equal to the second number.