Abstract: An apparatus for controlling an autonomous vehicle disclosure may include a processor and a memory configured to be operatively connected to the processor and to store at least one code performed in the processor, wherein the memory may store a code that, when executed by the processor, causes the processor to control the autonomous vehicle to travel on the basis of a distance from a preceding vehicle in a travel lane in which the autonomous vehicle travels or a preset speed, determine a risk level of a lane change on the basis of a speed of the autonomous vehicle, a speed of a side vehicle traveling in a target lane of a lane change, and a distance between the autonomous vehicle and the side vehicle upon occurrence of a lane change request, and perform longitudinal or lateral control for the lane change on the basis of the risk level.

Abstract: Disclosed is a simulation method of a simulation device. The simulation method includes generating a virtual road; synchronizing a location of an autonomous driving test vehicle in an actual proving ground (PG) with a location of a simulation vehicle on the virtual road; generating behavior of virtual traffic on the virtual road based on pre-stored actual behavior data of a target vehicle; generating virtual perception sensor data for the virtual traffic based on state information of the synchronized autonomous driving test vehicle and the behavior of the virtual traffic; and transmitting the virtual perception sensor data to the synchronized autonomous driving test vehicle.