A communication server in cooperation with a telematics center receives a result message for condition guidance service selection result information from the telematics center to control a driver terminal according to traveling condition recognition of a vehicle, stores a driver terminal number, call control request information during traveling, and condition notice information during traveling included in the result message, sets a condition guidance service, and controls call connection with a call connection attempting terminal for attempting a call connection to the driver terminal according to a type of the result message.