Autonomous driving apparatus and method

A method of controlling autonomous driving of an ego vehicle being autonomously driven, wherein a processor controls autonomous driving of the ego vehicle being autonomously driven based on map information stored in a memory and a track indicative of a state trajectory of a target object around the ego vehicle being autonomously driven, estimated based on a measurement value of a location of the target object detected by a sensor unit, the method comprising:

• extracting, by the processor, one or more valid measurement values within a validation gate of an estimate of the location of the target object, generated based on the measurement value of the location, among one or more measurement values output by the sensor unit;
• and
• forming, by the processor, a track of the target object by taking into consideration a probability that each of the extracted valid measurement values corresponds to a measurement value of the location of the target object at a current timing and tracking the target object using the track,
• wherein in the extracting of the one or more valid measurement values, the processor extracts the valid measurement values by adjusting a size of the validation gate based on time period during which the tracking of the target object is maintained and surrounding environment information of the ego vehicle being autonomously driven.