Apparatus for controlling autonomous driving and method thereof

An apparatus for a vehicle to manage different braking modes is introduced. The apparatus may use a control device, along with sensors and memory, to monitor acceleration error and a real-time driving mode. Based on information about the acceleration error and the real-time driving mode and predefined reference values, the control device may switch between driving mode, auxiliary braking mode, simultaneous braking mode, or main braking reduction mode. This may enable the vehicle to optimize braking based on real-time conditions.