A vehicle system comprising: an electronic parking brake control device configured to control engagement of an electronic parking brake device of a vehicle; and an autonomous driving control apparatus for a vehicle, comprising: a processor configured to: determine whether a current driving condition of the vehicle is a limit situation during an autonomous driving control, wherein the limit situation is a situation in which the autonomous driving control is disabled based on road information of a road on which the vehicle is running, or sensing information regarding driving conditions of the vehicle, when the limit situation is determined, demand to transfer a control authority to a user of the vehicle, when the control authority is not transferred to the user, start a minimum risk maneuver, and control engagement of the electronic parking brake device when the vehicle is stopped after the minimum risk maneuver ends; and a storage configured to store driving condition data of the vehicle and a set of instructions executed by the processor, characterised in that the processor is further configured to check whether the electronic parking brake device is engaged by using an electronic parking brake engagement signal received from the electronic parking brake control device; automatically release the autonomous driving control function when the electronic parking brake engagement is completed; and transmit, when the minimum risk maneuver is started, a signal to disable reactivation of the autonomous driving control function, wherein the reactivation of the autonomous driving control is prevented unless the vehicle is restarted. an electronic parking brake control device configured to control engagement of an electronic parking brake device of a vehicle; and an autonomous driving control apparatus for a vehicle, comprising: a processor configured to: determine whether a current driving condition of the vehicle is a limit situation during an autonomous driving control, wherein the limit situation is a situation in which the autonomous driving control is disabled based on road information of a road on which the vehicle is running, or sensing information regarding driving conditions of the vehicle, when the limit situation is determined, demand to transfer a control authority to a user of the vehicle, when the control authority is not transferred to the user, start a minimum risk maneuver, and control engagement of the electronic parking brake device when the vehicle is stopped after the minimum risk maneuver ends; and determine whether a current driving condition of the vehicle is a limit situation during an autonomous driving control, wherein the limit situation is a situation in which the autonomous driving control is disabled based on road information of a road on which the vehicle is running, or sensing information regarding driving conditions of the vehicle, when the limit situation is determined, demand to transfer a control authority to a user of the vehicle, when the control authority is not transferred to the user, start a minimum risk maneuver, and control engagement of the electronic parking brake device when the vehicle is stopped after the minimum risk maneuver ends; and a storage configured to store driving condition data of the vehicle and a set of instructions executed by the processor, characterised in that the processor is further configured to check whether the electronic parking brake device is engaged by using an electronic parking brake engagement signal received from the electronic parking brake control device; automatically release the autonomous driving control function when the electronic parking brake engagement is completed; and transmit, when the minimum risk maneuver is started, a signal to disable reactivation of the autonomous driving control function, wherein the reactivation of the autonomous driving control is prevented unless the vehicle is restarted. check whether the electronic parking brake device is engaged by using an electronic parking brake engagement signal received from the electronic parking brake control device; automatically release the autonomous driving control function when the electronic parking brake engagement is completed; and transmit, when the minimum risk maneuver is started, a signal to disable reactivation of the autonomous driving control function, wherein the reactivation of the autonomous driving control is prevented unless the vehicle is restarted.