Autonomous vehicle, control method for remotely controlling thereof

An autonomous vehicle comprising:

• an autonomous driving control apparatus including:
• a communication device configured to communicate with a control system;
• and
• a processor configured to:
• request remote control by transmitting a vehicle path to the control system in a situation where the remote control is required during autonomous driving,
• generate a virtual path by using a corrected path received from the control system,
• perform the remote control by determining validity of the virtual path,
• determine whether the remote control is ended by determining whether to return to the vehicle path for previous autonomous driving after remote driving on the virtual path, terminate the remote control and control the autonomous vehicle to follow the vehicle path, when the processor determines that the autonomous vehicle returns to the vehicle path,
• calculate a distance between coordinates of a point where an end point of the virtual path and the vehicle path meet and coordinates of a current position of the autonomous vehicle by determining absolute differences between x-coordinates and y-coordinates of two points, and calculating a Euclidean distance based on a sum of squares of the absolute differences, and
• end the remote control by determining that the autonomous vehicle has returned to the vehicle path when the calculated distance is smaller than a predetermined reference value.