Autonomous driving control apparatus and method thereof

An autonomous driving control method comprising:

• determining, by a controller and while performing autonomous driving control of a host vehicle, a hands-off time duration in which a driver of the host vehicle takes both hands off a steering wheel of the host vehicle;
• based on the hands-off time duration being greater than a first threshold time duration or based on lateral acceleration of the host vehicle being maintained at a value greater than a threshold value for at least a second threshold time duration in a hands-off situation, providing, by the controller, a first notification using at least one of a display device or a notification device;
• determining, based on a hands-off status and using a map table, a ramp-down time corresponding to a curvature of a road and the lateral acceleration;
• and
• ramping down, during the ramp-down time, an output torque for controlling the host vehicle.

A non-transitory computer-readable storage medium storing instructions that, when executed, cause:

• determining by a controller and while performing autonomous driving control of a host vehicle, a hands-off time duration in which a driver of the host vehicle takes both hands off a steering wheel of the host vehicle;
• and
• providing, based on the hands-off time duration being greater than a first threshold time duration or based on lateral acceleration of the host vehicle being maintained at a value greater than a threshold value for at least a second threshold time duration in a hands-off situation, a first notification using at least one of a display device or a notification device;
• determining, based on a hands-off status and using a map table stored in a memory, a ramp-down time corresponding to a curvature of a road on which the host vehicle is traveling and the lateral acceleration;
• and
• ramping down, during the ramp-down time, an output torque for controlling the host vehicle.