Disclosed herein is a driving control exchanging system and method for an autonomous vehicle. The method includes determining, by the controller, whether a driver can execute the operation for vehicle driving when the drive makes a conversion request from an autonomous travel mode to a manual travel mode; and in response to determining whether the driver can execute the operation for vehicle driving by sequentially turning off, by the controller, a plurality of functions during an autonomous travel of the vehicle to convert the mode of the vehicle to the manual travel mode.