A device for controlling autonomous driving of a vehicle comprising: an airbag control unit comprising an acceleration sensor mounted therein; non-transitory memory storing instructions executable to control an autonomous driving; and a processor configured to execute the instructions to: determine whether a collision has occurred using the acceleration sensor during the autonomous driving; determine a collision direction based on a change in acceleration of three axes obtained by the acceleration sensor when determining that the vehicle collision has occurred; and perform an emergency action by controlling at least one of longitudinal direction travel or transverse direction travel based on the collision direction, characterized in that: the processor is configured to: when the collision direction is a forward direction, immediately transmit a braking command to a brake controller to stop the vehicle, when the collision direction is a rearward direction, move the vehicle until an acceleration of an x-axis becomes equal to or less than a predetermined reference acceleration, and transmit the braking command to the brake controller to stop the vehicle, when the collision direction is a left direction, transmit a steering control command to a steering controller with a goal of the vehicle stop on a right side of a travel lane, and when the collision direction is a right direction, transmit the steering control command to the steering controller with a goal of the vehicle stop on a left side of the travel lane. an airbag control unit comprising an acceleration sensor mounted therein; non-transitory memory storing instructions executable to control an autonomous driving; and a processor configured to execute the instructions to: determine whether a collision has occurred using the acceleration sensor during the autonomous driving; determine a collision direction based on a change in acceleration of three axes obtained by the acceleration sensor when determining that the vehicle collision has occurred; and perform an emergency action by controlling at least one of longitudinal direction travel or transverse direction travel based on the collision direction, determine whether a collision has occurred using the acceleration sensor during the autonomous driving; determine a collision direction based on a change in acceleration of three axes obtained by the acceleration sensor when determining that the vehicle collision has occurred; and perform an emergency action by controlling at least one of longitudinal direction travel or transverse direction travel based on the collision direction, characterized in that: the processor is configured to: when the collision direction is a forward direction, immediately transmit a braking command to a brake controller to stop the vehicle, when the collision direction is a rearward direction, move the vehicle until an acceleration of an x-axis becomes equal to or less than a predetermined reference acceleration, and transmit the braking command to the brake controller to stop the vehicle, when the collision direction is a left direction, transmit a steering control command to a steering controller with a goal of the vehicle stop on a right side of a travel lane, and when the collision direction is a right direction, transmit the steering control command to the steering controller with a goal of the vehicle stop on a left side of the travel lane. when the collision direction is a forward direction, immediately transmit a braking command to a brake controller to stop the vehicle, when the collision direction is a rearward direction, move the vehicle until an acceleration of an x-axis becomes equal to or less than a predetermined reference acceleration, and transmit the braking command to the brake controller to stop the vehicle, when the collision direction is a left direction, transmit a steering control command to a steering controller with a goal of the vehicle stop on a right side of a travel lane, and when the collision direction is a right direction, transmit the steering control command to the steering controller with a goal of the vehicle stop on a left side of the travel lane.