APPARATUS AND METHOD FOR CONTROLLING A VEHICLE

A vehicle control device includes a steering wheel that specifies a driving direction of a host vehicle and a processor. The processor may: determine that the host vehicle is under autonomous driving control; determine a candidate value for a threshold value or a candidate value for a threshold time based on at least one of a maximum deceleration value among decelerations of the host vehicle measured during a specified time, a strength with which the steering wheel is gripped, or any combination thereof; determine a threshold value or a threshold time value; switch control of driving of the host vehicle from a system to the driver based on steering wheel being operated with an amount of operation greater than the threshold value and for a time greater than the threshold time value; and control the host vehicle based on an operation of the driver.