Disclosed are apparatuses and methods for controlling the steering of an autonomous vehicle. The apparatus including an electric power steering device to generate an assist torque for a steering wheel, an autonomous driving position controller to control a steering position according to a command steering angle input from an autonomous driving module, a driver steering intervention judger to judge whether a driver intervenes in steering based on a column torque and a vehicle speed, a weight detector to detect a weight for integrating output of an electric power steering device and output of an autonomous driving position controller based on judging whether the driver intervenes in steering, and an output controller to apply the weight to the output of the electric power steering device and the output of the autonomous driving position controller to integrate the output of the electric power steering device and the output of the autonomous driving position controller, wherein the autonomous driving position controller is further configured to adjust a gain value for controlling the steering position by applying the weight.