Ok, thanks for getting back with me with additional information..
From what you're stating, I HIGHLY recommend to NOT drive it until you have it looked at. From what you have explained, at this time there is nothing you can do or could have done to solve the problem. Something has failed and caused the engine to begin generating too much soot. What has ALREADY happened is the DPF (Diesel Particulate Filter) has cracked. That is why the black smoke out the tail pipe. The reason I know that the DPF is cracked is because there should NEVER be ANY smoke coming out the tailpipe even if the DPF is 100% full. What I suspect has happened is either an injector has failed or the EGR valve is stuck causing the engine to make too much soot. At this point, driving it on the highway will NOT make it regen as the DPF has gone beyond the point of no return. Normal regen is best done on highway at 55 to 65 and driving it AT LEAST 45 minutes to an hour. Since your check engine light is on, the dealer will be able to tell what caused the problem and will be able to repair it...
Unfortunately, since it is a 2010 it may be out of warranty. If you want to know in advance so that you can prepare yourself if the repairs will need to be paid for out of your pocket, please post the last 8 digits of the VIN and the miles on the odometer and I can research this for you....
Keep me posted and let me know if you have additional questions...
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