Apparatus and method for controlling autonomous driving

An apparatus for controlling autonomous driving of a host vehicle, the apparatus comprising:

• a sensor device;
• a memory configured to store instructions;
• and
• a controller operatively connected to the sensor device and the memory,
• wherein the instructions, when executed by the controller, cause the controller to
• identify other vehicle driving information including at least one of a relative speed between the host vehicle and a front vehicle, a relative distance between the host vehicle and the front vehicle, an acceleration of the front vehicle, an average deceleration amount of a rear vehicle driving behind the host vehicle, an instantaneous maximum deceleration amount of the rear vehicle, a deceleration timing of the rear vehicle, or a combination thereof, wherein:
• the front vehicle is a vehicle driving in front of the host vehicle and the rear vehicle is a vehicle driving behind the host vehicle, and
• the instructions, when executed by the controller, cause the controller to
• identify front vehicle driving information including at least one of the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof, and
• identify rear vehicle driving information including at least one of the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof,
• identify unresponsive state duration of a user within the host vehicle, and
• when the unresponsive state duration is greater than or equal to a specified time duration, perform emergency stop control on the host vehicle by using at least a part of the other vehicle driving information,
• wherein the instructions, when executed by the controller, further cause the controller to:
• identify first identification information corresponding to the rear vehicle,
• in response to identifying that the first identification information is changed to second identification information corresponding to another vehicle different from the rear vehicle, apply aging to reliability of the rear vehicle driving information obtained until a point in time when the first identification information is changed, and
• when the first identification information is identified again before the reliability is reduced based on the aging such that the reliability is smaller than or equal to a specified value, perform the emergency stop control by using the rear vehicle driving information obtained until the point in time.