Provided is a method for delivering goods in collaboration of a plurality of autonomous vehicles including a master vehicle and one or more slave vehicles. The method comprises calculating, by the master vehicle among the plurality of autonomous vehicles, a floor area required for unloading the goods based on a size of the goods, searching and determining, by the master vehicle, a region providing a flat area greater than or equal to the floor area as a goods handing over point, providing, by the master vehicle, position information of the goods handing over point to the one or more slave vehicles so that the one or more slave vehicles are gathered to the goods handing over point, providing, by the master vehicle, the position information of the goods handing over point to an unmanned aerial vehicle so that the unmanned aerial vehicle moves to the goods handing over point, determining, by the master vehicle, a portion of the goods to be supported by each autonomous vehicle based on a size of delivery target goods, moving, by each autonomous vehicle located at the goods handing over point, to a position corresponding to the determined portion, taking over the goods from the unmanned aerial vehicle and loading them together by collaborating with each autonomous vehicle at the moved position, and delivering the loaded goods to a destination by the plurality of autonomous vehicles.