This paper presents autonomous driving using a non-competitive distributed consensus scheme for physical layer security. The non-competitive distributed consensus scheme provides decentralization, security, and scalability as compared with the existing distributed consensus scheme. The non-competitive distributed consensus scheme makes it possible to share real-time traffic information in autonomous driving by achieving block generation within a relatively short time before consensus. Proposed traffic information communication method for autonomous driving is basically configured to generate a temporary block for a blockchain with traffic information only at vehicle nodes that have secured a certain level of secrecy capacity. Since secrecy capacity can be controlled by each vehicle node, it is expected that physical layer security will be enhanced in traffic information communications. This study is expected to contribute to reliably securing physical layer security in the commercialization of autonomous driving.