A method for controlling a driving mode of an autonomous driving vehicle, may include comparing a current vehicle speed with a reference vehicle speed when a driving mode change signal is generated during driving of the autonomous driving vehicle in manual driving mode; stopping the manual driving mode and executing autonomous driving mode when a result of the comparing indicates that the current vehicle speed is equal to or slower than the reference vehicle speed; and executing the autonomous driving mode or maintaining the manual driving mode which is a current driving mode, depending on a determination result of whether an APS signal is generated or not, when the result of the comparing indicates that current vehicle speed exceeds the reference vehicle speed.