A precise position correction method based on collaborative cognition in an autonomous vehicle includes: estimating object information on a road within a detection range on an autonomous vehicle; receiving a shared message from at least one of a first vehicle (another connected vehicle (CV) or automated vehicle (CAV)) and a road infrastructure device for V2X communication on the road, receiving the message including driving status information of the other CV when the first vehicle is the other CV, and receiving the driving status information of the other CAV and the message about a second vehicle, in which the V2X communication is not possible, recognized by the other CAV; calculating an estimated error by comparing the estimated object information with the message; and setting a radius based on the first vehicle corresponding to an estimated error application radius in consideration of a distance between the autonomous vehicle and the first vehicle.