Disclosed herein is a method for allowing a user to monitor or control an autonomous vehicle after a drop-off of the user. The method for monitoring and controlling an autonomous vehicle according to an embodiment includes receiving user alighting information for an autonomous vehicle, identifying whether a destination is set for the autonomous vehicle, determining an operating mode of a user terminal as a monitoring mode or a controlling mode on the basis of whether the destination is set, and transmitting a driving state of the autonomous vehicle to the user terminal, or transmitting a control signal corresponding to user manipulation inputted to the user terminal to the autonomous vehicle, on the basis of the operating mode.