Abstract: An autonomous vehicle autonomously running on a route of travel and its method are disclosed in which data on a plurality of target points and on a plurality of paths, the target points and paths defining start and end points of road segments which are the respective paths into which the route of travel is divided are stored into a data storage block, a shape of each road segment is determined on the basis of the stored data in the data storage block, a target running state is set on the basis of the determined shape of each road segment, and a run control of the vehicle is carried out on the basis of the set running state. In addition, a new target point on one of the paths is set which provides a shortest distance from a new point to the corresponding path and data on the new target point is provided which includes the data on the running state at the new target point so that a start point and/or a final target point at which the vehicle is finally to reach can arbitrarily set on the route of travel.