Apparatus for Controlling Autonomous Driving and Method for Controlling Junction Thereof

An apparatus for controlling autonomous driving of a host vehicle may comprise a processor and a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to select at least one target candidate vehicle expected to enter a road merging section on which the host vehicle is driving, determine a target yielding level associated with the at least one target candidate vehicle, wherein the target yielding level corresponds to a value indicating a likelihood for the host vehicle to yield to the at least one target candidate vehicle, select, based on the determined target yielding level, a final target vehicle, output a signal, and control autonomous driving of the host vehicle.