Method and system for driving negotiation for vehicles with cooperation between CCTV and road side unit

A method of performing a driving negotiation with a traveling vehicle, the method comprising:

• when a vehicle performing a driving negotiation moves, receiving, by a road side unit (RSU), a first message including a first temporary identification (ID) of the vehicle and an encryption value of a unique ID of the vehicle from a first RSU on a past route of the vehicle;
• receiving, by the RSU, a second message including a second temporary ID of the vehicle identified by a closed-circuit television (CCTV) in a communicable area of the RSU from the CCTV;
• obtaining or extracting, by the RSU, an encryption value of a unique ID corresponding to the vehicle associated with the second temporary ID based on the second message;
• determining, by the RSU, a correspondence between the vehicle associated with the first temporary ID and the vehicle associated with the second temporary ID, by comparing the encryption value of the unique ID obtained or derived based on the second message;
• identifying, by the RSU, that the second temporary ID is an updated temporary ID corresponding to the first temporary ID of the vehicle based on an identification of the second temporary ID being the updated temporary ID corresponding to the first temporary ID;
• and
• identifying, by the RSU, the vehicle as a target to extend the driving negotiation and performing the driving negotiation with the identified vehicle based on the identification.