APPARATUS FOR CONTROLLING AUTONOMOUS DRIVING AND METHOD THEREOF

An embodiment autonomous driving control apparatus includes a controller operatively connected to a communication device, a sensor device, and a memory storing instructions, wherein the controller is configured to execute the instructions stored in the memory to cause the autonomous driving control apparatus to transmit, using the communication device, a cross-check request for a detection vehicle or a host vehicle to another vehicle in response to detection of the detection vehicle satisfying a specified condition determined by the sensor device, identify an operating state of the sensor device based on a host vehicle existence response or a host vehicle absence response among responses received from the other vehicle in response to the cross-check request, and determine whether the detection vehicle is present based on a detection vehicle existence response or a detection vehicle absence response among the responses received from the other vehicle in response to the cross-check request.