Method of Controlling Autonomous Vehicle and Vehicle Therefor

A method for controlling autonomous driving of a vehicle is introduced. The method may comprise determining whether a side lane is in a traffic congestion situation based on road information associated with the side lane, object information associated with the side lane, and vehicle information associated with the vehicle, wherein the side lane is within a threshold distance from a driving lane of the vehicle. The method also may comprise generating congestion control information based on the road information, the object information, and a determination that the side lane is in the traffic congestion situation, wherein the congestion control information is related to a longitudinal control of the vehicle. The method may comprise generating operation-based longitudinal control information based on a plurality of speeds, wherein each speed is respectively derived from the congestion control information, the road information, the object information, and the vehicle information, and controlling autonomous driving.