Autonomous driving control apparatus and method of controlling speed during transition to manual driving

An autonomous driving control apparatus for transitioning control authority of an autonomous vehicle and a method thereof may include a processor provided in the autonomous vehicle configured to determine whether a predetermined condition required to transition to a manual driving mode while the autonomous vehicle may be traveling in an autonomous driving mode is met, determine a speed limit of the autonomous vehicle, and/or output a transition demand (TD) to a driver of the autonomous vehicle, and control autonomous driving such that a speed of the autonomous vehicle may not be greater than the speed limit while the TD is output. The autonomous driving control apparatus may be configured to include a time taken to transition control authority to the driver, thus improving safety.