## 1 Introduction  
Internet of Things (IoT) is a technology in which all its elements, such as humans, objects, and services, are connected through wireless communication, and an object capable of wireless communication with a sensor is referred to as an IoT edge device. The core characteristic of IoT is connectivity. New services are provided to users by collecting and sharing new information generated by IoT edge devices between devices. Therefore, IoT is one of the significant foundation technologies of the 4 th industrial revolution, where various types of convergence and exchange through innovation are important. IoT technology has gradually evolved, and its application range has expanded from devices used in everyday life, such as smartwatches, to connected cars. A connected car uses wireless communication technology and exchanges information with connected cars and infrastructure. Despite the progress and development of research on autonomous driving technology that autonomously recognizes and determines the surrounding environment through sensors, such as radar, LiDAR, GPS, and camera, autonomous vehicles still do not guarantee safety [1]. If connected technology is applied to an autonomous vehicle, it is possible to provide a service that guarantees driver comfort and safety. Therefore, in this study, an autonomous vehicle with connected technology is set as an IoT edge device. In order to provide IoT services to IoT edge devices, a platform that can collect and process all data generated by autonomous vehicles is needed. In the automotive field, the environment in which autonomous vehicles are connected to other vehicles and infrastructure through wireless communication is defined as a cooperative intelligent transport system (C-ITS). C-ITS changed the existing ITS from road management to user safety through smooth two-way communication and collaboration between vehicles, roads, and improved safety when driving a connected car by supplementing the limitation that immediate response is complicated [2,3]. Vehicle to Everything (V2X) is a technology that communicates with vehicles, infrastructure, and people through wireless networks in C-ITS. Connected cars deliver various road and surrounding information using V2X and use the information for autonomous driving along with vehicle sensor data. Local dynamic map (LDM), a concept devised by the European Telecommunications Standards Institute (ETSI) to store data among various elements constituting C-ITS, stores data such as high-definition map (HD map), weather, and traffic information into four layers [4,5]. LDM can be roughly divided into central LDM and vehicle LDM, and data generated by vehicles and infrastructure are collected from the central LDM. In addition, the central LDM collects and provides additional information necessary for safe driving, such as weather information and accident information, to vehicle LDM. Therefore, in the C-ITS environment, the central LDM acts as a platform to collect data and provide services. Camera, LiDAR, and GPS sensors mounted on the connected car are critical sensors for providing connected car services and can be used for processing, such as HD map creation and detection of unexpected situations on the road [6, 7, 8]. However, in the existing C-ITS environment, the central LDM collects only simple driving information such as speed, position, and direction from the connected car, and the connected car acts as a device to receive services. It is also configured to focus on collecting road situation information from the road side unit (RSU) [9,10]. However, because the RSU is mainly installed on highways, road conditions cannot be determined in areas where the RSU is not installed, such as national highways, and it is time-consuming and expensive to install and use additional equipment for implementing C-ITS.