Method for limiting active acceleration based on driving situations and a vehicle drivable thereby

A vehicle, comprising:

• a sensor unit configured to detect a state of the vehicle and a maneuver for the vehicle;
• a memory configured to store at least one instruction for controlling the vehicle;
• and
• a processor configured to execute the at least one instruction stored in the memory,
• wherein the processor is further configured to
• detect presence of an acceleration limitation situation based on driving situation information,
• determine an acceleration estimate based on a feedback method including modeling according to a weight of the vehicle,
• in response to detecting the presence of the acceleration limitation situation, generate an acceleration limit based on situation type information identified in the driving situation information and the acceleration estimate,
• determine, as control torque, a smaller torque among an acceleration torque limit based on the acceleration limit and required torque according to a driving maneuver request, and
• control driving of the vehicle based on acceleration according to the control torque on a path corresponding to the acceleration limitation situation.