Car control apparatus and its car control apparatus and autonomic driving method

A method of autonomous traveling of a vehicle control apparatus according to an embodiment of the present invention includes monitoring a situation in which a driving lane of a running vehicle is required to be changed on the road, Determining whether or not the lane change of the vehicle is possible by using the generated lane change reference information, comparing the lane change reference information with the adjacent lane change reference information, And changing the driving lane of the vehicle upon receiving the lane changeable message from the adjacent vehicle. Therefore, the present invention has an effect of leading the development of unmanned free running technology by establishing a lane-changing V2X (Vehicle to Everything) communication method for unmanned autonomous driving.