Provided are a driving negotiation method and apparatus for supporting stability against a blind spot, an unexpected situation, etc. and a rapid judgment and response of an autonomous vehicle in various driving environments. The driving negotiation apparatus includes a wireless communication module configured to support vehicle to everything (V2X) communication and at least one processor connected to the wireless communication module. The at least one processor receives a cooperative request message from a first vehicle, broadcasts a cooperative request message and additional information required for a negotiation to surrounding vehicles, receives a cooperative response message from at least one second vehicle among the surrounding vehicles, and transmits a message indicating that the negotiation is possible or impossible to the first vehicle on the basis of the cooperative response message.