Autonomous driving system and control method therefor

A vehicle comprising:

• a sensor;
• a driving control circuit configured to control autonomous driving of the vehicle;
• and
• a processor circuit configured to:
• obtain, based on data from the sensor, information on the vehicle and a surrounding environment of the vehicle,
• identify an operational design domain (ODD) departure event corresponding to an event that causes or is expected to cause the vehicle or the surrounding environment to fall outside the ODD, wherein the ODD corresponds to a set of operating conditions under which autonomous driving of the vehicle is designed to function,
• based on at least one of a location associated with the ODD departure event or a predictability of the ODD departure event, determine a type of the ODD departure event,
• determine, based on the type of the ODD departure event, a degree of risk associated with the ODD departure event, and
• control, via the driving control circuit and based on the degree of risk, driving of the vehicle by performing at least one of requesting driver takeover, adjusting a level of autonomous driving, or executing a minimal risk maneuver.