A method for planning an autonomous driving by using a V2X communication and an image processing under a road circumstance where both vehicles capable of the V2X communication and vehicles incapable of the V2X communication exist is provided. And the method includes steps of: (a) a computing device, corresponding to a subject autonomous vehicle, instructing a planning module to acquire recognition information on surrounding vehicles including (i) first vehicles capable of a V2X communication and (ii) second vehicles incapable of the V2X communication; (b) the computing device instructing the planning module to select an interfering vehicle among the surrounding vehicles; and (c) the computing device instructing the planning module to generate a potential interference prediction model, and to modify current optimized route information in order to evade a potential interfering action, to thereby generate updated optimized route information of the subject autonomous vehicle.