Method and apparatus are disclosed for adjustment of maximum brake pump speed based on target and measured decelerations. A vehicle includes a brake pump having a maximum pump speed. The vehicle also includes a vehicle decelerator to determine a target deceleration for autonomous deceleration and send a signal to the brake pump to decelerate the vehicle at the target deceleration. A first sensor detects a measured deceleration and a maximum speed regulator to adjust the maximum pump speed based on a difference between the target deceleration and the measured deceleration. A further sensor may detect an object in front of the vehicle and the automatic deceleration may be determined to maintain a buffer distance between the vehicle and the object.