A method of creating a driving route of an autonomous vehicle, the method being performed by a computing device, the method comprising: obtaining information about a start point and an end point, wherein the obtaining of the information about the start point and the end point comprises receiving two-dimensional coordinates of the start point and the end point and angles of movement of the autonomous vehicle at the start point and the end point through a user interface; setting an intermediate point between the start point and the end point, wherein the setting of an intermediate point comprises receiving two-dimensional coordinates of one or more intermediate points between the start point and the end point through the user interface; and creating a driving route by connecting the start point, the set intermediate point, and the end point, wherein the driving route comprises a set of a curve connecting the start point and the set intermediate point and a curve connecting the set intermediate point and the end point, is expressed by a polynomial function for an angle of movement of the autonomous vehicle, and satisfies one or more continuity conditions related to a curvature, wherein the one or more continuity conditions correspond to a level of smoothness selected by the user; wherein the creating of the driving route comprises: setting the obtained information about the start point and the end point as boundary conditions for the driving route at the start point and at the end point; creating the driving route connecting the start point, the one or more intermediate points, and the end point, and automatically updating the created driving route to include a new intermediate point when the new intermediate point is additionally received through the user interface; and displaying the created driving route on map data output through the user interface. obtaining information about a start point and an end point, wherein the obtaining of the information about the start point and the end point comprises receiving two-dimensional coordinates of the start point and the end point and angles of movement of the autonomous vehicle at the start point and the end point through a user interface; setting an intermediate point between the start point and the end point, wherein the setting of an intermediate point comprises receiving two-dimensional coordinates of one or more intermediate points between the start point and the end point through the user interface; and creating a driving route by connecting the start point, the set intermediate point, and the end point, wherein the driving route comprises a set of a curve connecting the start point and the set intermediate point and a curve connecting the set intermediate point and the end point, is expressed by a polynomial function for an angle of movement of the autonomous vehicle, and satisfies one or more continuity conditions related to a curvature, wherein the one or more continuity conditions correspond to a level of smoothness selected by the user; wherein the creating of the driving route comprises: setting the obtained information about the start point and the end point as boundary conditions for the driving route at the start point and at the end point; creating the driving route connecting the start point, the one or more intermediate points, and the end point, and automatically updating the created driving route to include a new intermediate point when the new intermediate point is additionally received through the user interface; and displaying the created driving route on map data output through the user interface. setting the obtained information about the start point and the end point as boundary conditions for the driving route at the start point and at the end point; creating the driving route connecting the start point, the one or more intermediate points, and the end point, and automatically updating the created driving route to include a new intermediate point when the new intermediate point is additionally received through the user interface; and displaying the created driving route on map data output through the user interface.