Autonomous driving control apparatus and method

An autonomous driving control apparatus includes a memory and at least one processor. The at least one processor identifies first input information including at least one of a characteristic of a road, event information of the road, or any combination thereof and second input information including a characteristic of the vehicle. The at least one processor further performs cross-modal alignment of a backbone model for outputting a speed profile. The at least one processor also applies an output obtained by applying the first input information to a first encoder neural network, an output obtained by applying the second input information to a feature extraction neural network of the backbone model, and a target speed to a second decoder neural network. The at least one processor further obtains the speed profile from the second decoder neural network to perform main learning of the backbone model.