A platooning control device of a pertinent vehicle comprising: a learning device configured to perform reinforcement learning on the basis of image information and a reward and to control the pertinent vehicle so as to follow a traveling trajectory of a front vehicle according to a result of the reinforcement learning; and a compensation determination unit configured to receive a coordinate of a control point regarding the traveling trajectory of the front vehicle from the front vehicle and to compare a current coordinate of the pertinent vehicle with the coordinate of the control point, thereby generating the reward, wherein the control point corresponds to a point among points for controlling the shape of a spline curve corresponding to the traveling trajectory of the front vehicle, wherein the image information comprises front image information output from a front camera of the pertinent vehicle and rear image information output from a rear camera of the front vehicle, wherein the learning device is further configured to: determine an overlapping part between a rear image of the front vehicle and a front image of the pertinent vehicle on the basis of the front image information and the rear image information; determine a degree of overlapping between the rear image and the front image according to the determined overlapping part as learning data regarding the reinforcement learning; and use the determined degree of overlapping as learning data regarding the reinforcement learning. a learning device configured to perform reinforcement learning on the basis of image information and a reward and to control the pertinent vehicle so as to follow a traveling trajectory of a front vehicle according to a result of the reinforcement learning; and a compensation determination unit configured to receive a coordinate of a control point regarding the traveling trajectory of the front vehicle from the front vehicle and to compare a current coordinate of the pertinent vehicle with the coordinate of the control point, thereby generating the reward, wherein the control point corresponds to a point among points for controlling the shape of a spline curve corresponding to the traveling trajectory of the front vehicle, wherein the image information comprises front image information output from a front camera of the pertinent vehicle and rear image information output from a rear camera of the front vehicle, wherein the learning device is further configured to: determine an overlapping part between a rear image of the front vehicle and a front image of the pertinent vehicle on the basis of the front image information and the rear image information; determine a degree of overlapping between the rear image and the front image according to the determined overlapping part as learning data regarding the reinforcement learning; and use the determined degree of overlapping as learning data regarding the reinforcement learning. determine an overlapping part between a rear image of the front vehicle and a front image of the pertinent vehicle on the basis of the front image information and the rear image information; determine a degree of overlapping between the rear image and the front image according to the determined overlapping part as learning data regarding the reinforcement learning; and use the determined degree of overlapping as learning data regarding the reinforcement learning.