Method and apparatus for determining an error of a vehicle in autonomous driving system

A method for determining an error in an autonomous driving system, the method comprising:

• receiving a diagnostic message indicating that there is an error in a V2X message transmitted by a vehicle;
• and
• restarting a module generating the V2X message to resolve the error;
• and
• transmitting the V2X message in a broadcast manner,
• wherein the V2X message includes state information of the vehicle and the error is based on external monitoring information related to the vehicle.

A vehicle for determining an error in an autonomous driving system, the vehicle comprising:

• a transceiver;
• a display;
• a sensing unit;
• a memory;
• and
• a processor controlling the transceiver, the display, the sensing unit, and the memory,
• wherein the processor
• determines a location of a road side unit (RSU) on the basis of map information obtained from the memory,
• determines, on the basis of the location of the RSU, that the vehicle enters an area in which it is possible to receive, from the RSU, a diagnostic message for determining whether a transceiver of the vehicle operates normally,
• restarts, if the diagnostic message is not received, the transceiver to resolve an error that the transceiver fails to receive the diagnostic message, and
• receives, from the RSU, a diagnostic message for determining whether the transceiver operates normally through the transceiver.