APPARATUS FOR CONTROLLING AUTONOMOUS DRIVING OF A VEHICLE, SYSTEM HAVING THE SAME AND METHOD THEREOF

An autonomous driving control apparatus for a vehicle includes: a processor that determines whether a current driving condition of the vehicle is a limit situation during an autonomous driving control, performs a demand for control authority transition to a user during the autonomous driving control when the current driving condition is the limit situation, and starts a minimum risk maneuver to transmit a signal for disabling reactivation of the autonomous driving control when control authority is not transferred to the user; and a storage to store a set of instructions and driving condition data to be used by the processor. In particular, the processor demands for engagement of an electronic parking brake device when the vehicle is stopped after the minimum risk maneuver ends.