Apparatus and Method for Controlling Autonomous Driving Vehicle

An autonomous driving control method comprising:

• operating, by a computing device, a host vehicle in an excessive deceleration limit mode;
• determining vehicle information of a leading vehicle, the vehicle information comprising an indication of a speed control signal for changing a vehicle speed of the leading vehicle;
• inputting, to a trained model, at least one of a first factor;
• adjusting, based on the speed control signal, based on a second factor output from the trained model, and while operating in the excessive deceleration limit mode, an excessive deceleration limit level of the host vehicle;
• and
• updating the trained model, based on a third factor,
• wherein the first factor includes the vehicle information of the leading vehicle and the speed control signal, and
• wherein the third factor is obtained from steering or braking operation of a driver.

An apparatus for a host vehicle, the apparatus comprising:

• a sensor device configured to detect a leading vehicle;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the apparatus to:
• operate in an excessive deceleration limit mode;
• determine, based on vehicle information of the leading vehicle, a speed control for changing a vehicle speed of the leading vehicle;
• adjust, based on the determined speed control and while operating in the excessive deceleration limit mode, an excessive deceleration limit level of the host vehicle;
• and
• control, based on the adjusted excessive deceleration limit level of the host vehicle, an autonomous driving operation of the host vehicle.