Apparatus for controlling autonomous vehicle based on performing a minimum risk maneuver and method thereof

A method for controlling an autonomous vehicle, the method comprising:

• based on determination that a driver of the vehicle does not take over control authority during a specific time after outputting a transition demand from an existing autonomous driving system of the autonomous vehicle to the driver, performing, by a processor, a minimum risk maneuver (MRM) comprising deceleration control and stop control of the autonomous vehicle;
• determining, by the processor, that the MRM is completed based on stopping the vehicle;
• after the MRM is completed, monitoring, by the processor, manipulation of a user for disabling autonomous driving for a specific time;
• determining, by the processor, that the manipulation of the user is not input during the specific time;
• determining, by the processor, not to take over control authority of the autonomous vehicle based on the determination that the manipulation of the user is not input during the specific time;
• and
• requesting, by processor, a call connection from an external institution, through a communication terminal, after determining that the control authority of the autonomous vehicle does not take over.