Provided is a method for charging a battery performed by a charging vehicle in an autonomous driving system. The charging vehicle receives a request message requesting charging of a battery of a driving vehicle from a control center, and the request message includes first location information related to a location of the driving vehicle and battery information related to a remaining battery capacity of the driving vehicle. Thereafter, the charging vehicle receives a control message including charging information for charging the battery of the driving vehicle from the control center, and the charging information includes road location information related to a road location for the battery charging, lane information related to an occupancy lane occupied for charging, and time information. Thereafter, the charging vehicle moves to a location adjacent to the driving vehicle, and the battery of the driving vehicle is charged in the occupancy lane.