Provided are a method and apparatus for creating a driving route of an autonomous vehicle and a computer program therefor. A method of creating a driving route of an autonomous vehicle, the method being performed by a computing device, includes obtaining information about a start point and an end point, setting an intermediate point between the start point and the end point, and creating a driving route by connecting the start point, the set intermediate point, and the end point, wherein the driving route includes a set of a curve connecting the start point and the set intermediate point and a curve connecting the set intermediate point and the end point, is expressed by a polynomial function for an angle of movement of the autonomous vehicle, and satisfies one or more continuity conditions related to a curvature.