Patent attributes
An autonomous driving apparatus and method, in which the apparatus includes a sensor unit detecting a surrounding vehicle around an ego vehicle that autonomously travels, an output unit, a memory storing map information, and a processor controlling the autonomous driving of the ego vehicle based on the map information. The processor is configured to generate an actual driving trajectory and expected driving trajectory of the surrounding vehicle based on driving information of the surrounding vehicle detected by the sensor unit and the map information, determine whether a driving mode of the surrounding vehicle is an autonomous driving mode and an autonomous driving risk of the ego vehicle based on a trajectory error between the actual driving trajectory and expected driving trajectory of the surrounding vehicle, and output a warning to a passenger through the output unit at a level corresponding to the determined autonomous driving risk.