A vehicle safety support apparatus comprising: a driver monitoring unit configured to monitor a driver; an external environment monitoring unit configured to monitor an external environment of a vehicle; and a control unit including a driver availability estimation unit , a traffic hazard estimation unit , a driving control determination unit and an autonomous driving control unit ; the driver availability estimation unit being configured to estimate driver availability based on the physical features, posture and control intention of the driver, acquired through the driver monitoring unit ; the traffic hazard estimation unit being configured to estimate a traffic hazard based on road and traffic environment outside the vehicle through the external environment monitoring unit , the traffic hazard indicating the possibility that an accident will occur; the driving control determination unit being configured to determine a driving control based on the estimated driver availability and traffic hazard; and the autonomous driving control unit being configured to control the respective devices in the vehicle, for example the steering , the brake , the hazard lamp and the like, to perform autonomous driving; wherein the control unit is configured to determine a driving control for the vehicle based on data acquired from the driver monitoring unit , and the external environment monitoring unit , and perform autonomous driving to move the vehicle to a safe area, when determining to take over the driving control from the driver, and wherein the control unit determines to take over the driving control from the driver when the vehicle is in immediate hazard situation and there is no response by the driver. a driver monitoring unit configured to monitor a driver; an external environment monitoring unit configured to monitor an external environment of a vehicle; and a control unit including a driver availability estimation unit , a traffic hazard estimation unit , a driving control determination unit and an autonomous driving control unit ; the driver availability estimation unit being configured to estimate driver availability based on the physical features, posture and control intention of the driver, acquired through the driver monitoring unit ; the traffic hazard estimation unit being configured to estimate a traffic hazard based on road and traffic environment outside the vehicle through the external environment monitoring unit , the traffic hazard indicating the possibility that an accident will occur; the driving control determination unit being configured to determine a driving control based on the estimated driver availability and traffic hazard; and the autonomous driving control unit being configured to control the respective devices in the vehicle, for example the steering , the brake , the hazard lamp and the like, to perform autonomous driving; wherein the control unit is configured to determine a driving control for the vehicle based on data acquired from the driver monitoring unit , and the external environment monitoring unit , and perform autonomous driving to move the vehicle to a safe area, when determining to take over the driving control from the driver, and wherein the control unit determines to take over the driving control from the driver when the vehicle is in immediate hazard situation and there is no response by the driver. <EOS>