An autonomous driving control apparatus comprising: an image capturing unit configured to capture a driving road image of an ego vehicle; a control unit configured to generate virtual lanes on a road with no lines, the number of virtual lanes being decided based on a comparison result between the width of the road with no lines and a preset reference road width, when the road with no lines is detected in front of the ego vehicle through the driving road image captured by the image capturing unit, and control autonomous driving of the ego vehicle to drive on one of the generated virtual lanes; and a vehicle communication unit configured to communicate with another vehicle, wherein when a front object is detected from the driving road image, the control unit controls the autonomous driving of the ego vehicle to avoid the front object and drive on the road with no lines, wherein when the width of the road with no lines is less than the reference road width, the control unit generates only one virtual lane which corresponds to the road with no lines, wherein when the front object detected from the driving road image is a driving front vehicle, the control unit controls the autonomous driving of the ego vehicle in consideration of the driving direction of the front vehicle, such that the ego vehicle avoids the front vehicle, wherein when the front vehicle is driving toward the ego vehicle, the control unit decides which vehicle is to reverse between the ego vehicle and the front vehicle, based on driving history information of the ego vehicle and driving history information of the front vehicle which is received through the vehicle communication unit, and wherein the driving history information comprises width information of the road with no lines and distance information indicating the distance that the corresponding vehicle has driven on the road with no lines. an image capturing unit configured to capture a driving road image of an ego vehicle; a control unit configured to generate virtual lanes on a road with no lines, the number of virtual lanes being decided based on a comparison result between the width of the road with no lines and a preset reference road width, when the road with no lines is detected in front of the ego vehicle through the driving road image captured by the image capturing unit, and control autonomous driving of the ego vehicle to drive on one of the generated virtual lanes; and a vehicle communication unit configured to communicate with another vehicle, wherein when a front object is detected from the driving road image, the control unit controls the autonomous driving of the ego vehicle to avoid the front object and drive on the road with no lines, wherein when the width of the road with no lines is less than the reference road width, the control unit generates only one virtual lane which corresponds to the road with no lines, wherein when the front object detected from the driving road image is a driving front vehicle, the control unit controls the autonomous driving of the ego vehicle in consideration of the driving direction of the front vehicle, such that the ego vehicle avoids the front vehicle, wherein when the front vehicle is driving toward the ego vehicle, the control unit decides which vehicle is to reverse between the ego vehicle and the front vehicle, based on driving history information of the ego vehicle and driving history information of the front vehicle which is received through the vehicle communication unit, and wherein the driving history information comprises width information of the road with no lines and distance information indicating the distance that the corresponding vehicle has driven on the road with no lines.