An apparatus for managing control authority transition in a vehicle, the apparatus comprising: a steering device; an acceleration device; a deceleration device; a sensor configured to sense information about a driver of the vehicle; and a control circuit configured to be electrically connected with the steering device, the acceleration device, the deceleration device, and the sensor, wherein the control circuit is configured to: obtain state information about the driver using the sensor when performing an autonomous control; receive, from the driver, a control input to at least one of the steering device, the acceleration device, or the deceleration device; calculate an expected path of the vehicle based on the control input; determine a probability of collision of the vehicle based on the expected path and a location of an external object; verify whether the driver is conscious and sits in the driver's seat; when it is verified that the driver is conscious and sits in the driver's seat, determine a reliability of the control input, wherein the reliability of the control input is determined as being high, when there is no probability of collision or the determined probability of collision is lower than a risk of collision on a path by the autonomous control; determine whether to transfer a control authority based on the state information and the reliability of the control input; and transfer, to the driver, the control authority, when it is determined to transfer the control authority, when the reliability of the control input is high. a steering device; an acceleration device; a deceleration device; a sensor configured to sense information about a driver of the vehicle; and a control circuit configured to be electrically connected with the steering device, the acceleration device, the deceleration device, and the sensor, wherein the control circuit is configured to: obtain state information about the driver using the sensor when performing an autonomous control; receive, from the driver, a control input to at least one of the steering device, the acceleration device, or the deceleration device; obtain state information about the driver using the sensor when performing an autonomous control; receive, from the driver, a control input to at least one of the steering device, the acceleration device, or the deceleration device; calculate an expected path of the vehicle based on the control input; determine a probability of collision of the vehicle based on the expected path and a location of an external object; verify whether the driver is conscious and sits in the driver's seat; when it is verified that the driver is conscious and sits in the driver's seat, determine a reliability of the control input, wherein the reliability of the control input is determined as being high, when there is no probability of collision or the determined probability of collision is lower than a risk of collision on a path by the autonomous control; determine whether to transfer a control authority based on the state information and the reliability of the control input; and transfer, to the driver, the control authority, when it is determined to transfer the control authority, when the reliability of the control input is high. verify whether the driver is conscious and sits in the driver's seat; when it is verified that the driver is conscious and sits in the driver's seat, determine a reliability of the control input, wherein the reliability of the control input is determined as being high, when there is no probability of collision or the determined probability of collision is lower than a risk of collision on a path by the autonomous control; determine whether to transfer a control authority based on the state information and the reliability of the control input; and transfer, to the driver, the control authority, when it is determined to transfer the control authority, when the reliability of the control input is high.