Disclosed are an autonomous vehicle driving system and method that increase probability that a signal of a traffic light will be recognized by using map information built in an autonomous vehicle driving system and a traffic light infrastructure, determine which travel route is allowed according to a camera recognition result and signal information delivered through V2X communication (traveling is allowed from which entrance lane to which exit lane), and enable an autonomous driving vehicle and a traffic light infrastructure to exchange intersection passage route information in order to allow the autonomous driving vehicle to efficiently pass through an intersection.