The present invention relates to a controlling method for an automatic guide for lifting and lowering a wheelchair in a wheelchair lifting and lowering automatic guiding system for a vehicle having a wheelchair lifting device, and an apparatus thereof, wherein the method comprises: a step where an automatic guiding system initiates a preset wheelchair lifting guide control mode movement according to a set key manipulation (or user voice input)； a step of unlocking a preset locked door according to the initiation of the wheelchair lifting guide control mode movement to open the set door； a step of initiating a lowering movement of a lifting board when the automatic opening of the set door is determined to be completed, or of ending the lowering movement of the lifting board after a fixed period of time (when the lifting board is settled on the ground) from the initiation point of the lowering movement of the lifting board； and a step of lifting the lifting board in order to be led into a vehicle when a wheelchair is determined to be seated on the lifting board settled on the ground. Through the wheelchair lifting and lowering automatic guiding system used for a vehicle having a wheelchair lifting device, a wheelchair in which a disabled person is seated and which is outside the vehicle can be safely lifted into the driver&prime；s seat of the vehicle, or a wheelchair in which a disabled person is seated and which is positioned in the driver&prime；s seat of the vehicle can be safely lowered to the outside of the vehicle. [Reference numerals] (101) Lifting control mode initiating unit； (102) First door opening control unit； (103) First lifting board lowering control unit； (104) First lifting board lifting control unit； (105) First door closing control unit； (AA) Control unit； (BB) Manipulation command or User voice input본 발명은 휠체어용 승강장치를 갖는 차량용 휠체어 승, 하차 자동 안내시스템의 휠체어 승, 하차 자동 안내 제어방법에 있어서, 상기 자동 안내시스템이 설정 키 조작(또는, 사용자 음성 입력)에 따라 미리 설정된 휠체어 승차 안내 제어 모드 동작을 개시하는 단계, 상기 휠체
