Provided are a method and apparatus for continuously establishing a boundary for autonomous driving availability, in a vehicle having autonomous driving capabilities. The apparatus includes a remote sensor for acquiring vehicle surrounding information and a vehicle dynamics sensor for determining vehicle dynamics parameters. Also provided is a vehicle inlcuding the apparatus. The apparatus include at least one of the following: a positioning arrangement that provides map data with associated information, a route planning arrangement that enables route planning, a vehicle driver monitoring arrangement that provides driver monitoring information, and a real time information acquiring arrangement that acquires at least one of traffic information and weather information. The boundary is calculated based on a planned route and at least one of vehicle surrounding information, vehicle dynamics parameters, driver monitoring information, map data, traffic information and weather information, for the planned route. Changes in the calculated boundary are output to a human machine interface in the vehicle.