A vehicle controller includes a communications unit for performing data communications with local servers; a local path generation unit for generating, in response to an automatic vehicle guidance service request, a local path based on a driving control command and sensing information received from the local servers via the communications unit; a path-following control unit for generating actuator control signals for controlling actuators of a vehicle to drive the vehicle along the local path; and a vehicle driving unit for driving the actuators according to the actuator control signals. Each local server pre-processes and merges sensor data received from the infra-sensor to generate the sensing information. A global server generates the driving control command based on the sensing information and transmits the driving control command to the local servers.