I. Introduction
Autonomous driving technology can be divided into perception, judgment, and control. Among them, perceiving the surrounding environment of an autonomous vehicle is the first step and a key determinant of performance. This is because the goal of perception is to detect the obstacles and provide the driving path in various driving environments. Perception technology is divided into communication type and sensor type. The communication type recognizes the surrounding situation through communication with the outside using communication equipment installed in the vehicle. The communication method between the transmission equipment inside the vehicle and the receiving equipment of the vehicle and a specific object is called Vehicle to Everything (V2X). Although the V2X communication has a longer range than the sensor type, it is vulnerable to hacking and its performance varies depending on the surrounding environment or vehicle condition.