Autonomous driving vehicle and control method therefor

A vehicle comprising:

• a human-machine interface (HMI) configured to output at least one of a visual signal, a tactile signal, or an auditory signal to provide information to an occupant of the vehicle;
• a sensor configured to monitor, based on an autonomous driving feature of the vehicle being activated, a state of the vehicle and a surrounding environment of the vehicle;
• a processor;
• and
• a memory storing at least one instruction that is configured, when executed by the processor communicating with the memory, to cause the vehicle to:
• determine, based on the state of the vehicle and the surrounding environment, whether the vehicle is expected to depart from an operational design domain associated with the autonomous driving feature;
• and
• based on determining that the vehicle is expected to depart from the operational design domain, determine information about the operational design domain, wherein the information comprises at least one of:
• a departure time at which the vehicle is expected to depart from the operational design domain, or
• a departure position at which the vehicle is expected to depart from the operational design domain;
• and
• output, via the HMI, the information.