An autonomous driving control method, comprising: estimating motion control capacities of a vehicle on the basis of performance parameters and/or structure parameters of the vehicle; grading autonomous driving functions of the vehicle on the basis of the motion control capacities; and providing the graded autonomous driving functions on the basis of a state of the vehicle, wherein the motion control capacities of the vehicle comprise an acceleration capacity, a deceleration capacity, a steering capacity, a parking capacity, and a suspension capacity, wherein the performance parameters comprise: a road adhesion coefficient, a battery charge and discharge performance, an electric motor drive performance, an input of a steering system, a steering control performance fed back by a brake system, a state of an electronic parking system, a brake torque of the brake system, a braking torque of an electric motor, and a state of a suspension system; and the structure parameters comprise: vehicle weight and a location of the center of mass, which is characterised in that, estimating motion control capacities of a vehicle on the basis of performance parameters and/or structure parameters of the vehicle comprises: computing available parking function states of the vehicle on the basis of the state of the electronic parking system, the brake torque of the brake system and the braking torque of the electric motor, to estimate the parking capacity, wherein the parking function states comprise a full-function execution state, a five-minute execution state, and a non-execution state, estimating a state of a suspension stiffness control capacity of the vehicle on the basis of the state of the suspension system, to estimate the suspension capacity. estimating motion control capacities of a vehicle on the basis of performance parameters and/or structure parameters of the vehicle; grading autonomous driving functions of the vehicle on the basis of the motion control capacities; and providing the graded autonomous driving functions on the basis of a state of the vehicle, wherein the motion control capacities of the vehicle comprise an acceleration capacity, a deceleration capacity, a steering capacity, a parking capacity, and a suspension capacity, wherein the performance parameters comprise: a road adhesion coefficient, a battery charge and discharge performance, an electric motor drive performance, an input of a steering system, a steering control performance fed back by a brake system, a state of an electronic parking system, a brake torque of the brake system, a braking torque of an electric motor, and a state of a suspension system; and the structure parameters comprise: vehicle weight and a location of the center of mass, which is characterised in that, estimating motion control capacities of a vehicle on the basis of performance parameters and/or structure parameters of the vehicle comprises: computing available parking function states of the vehicle on the basis of the state of the electronic parking system, the brake torque of the brake system and the braking torque of the electric motor, to estimate the parking capacity, wherein the parking function states comprise a full-function execution state, a five-minute execution state, and a non-execution state, estimating a state of a suspension stiffness control capacity of the vehicle on the basis of the state of the suspension system, to estimate the suspension capacity. computing available parking function states of the vehicle on the basis of the state of the electronic parking system, the brake torque of the brake system and the braking torque of the electric motor, to estimate the parking capacity, wherein the parking function states comprise a full-function execution state, a five-minute execution state, and a non-execution state, estimating a state of a suspension stiffness control capacity of the vehicle on the basis of the state of the suspension system, to estimate the suspension capacity.