information obtaining unit 230 a traffic information collecting unit 240 and an infrastructure based driving condition recognizing unit 250 the communication unit 210 may communicate with the autonomous driving vehicle 100 further the communication unit 210 may communicate other vehicles in addition to the autonomous driving vehicle 100 the communication unit 210 processes a signal of information to be transmitted to the vehicles including the autonomous driving vehicle 100 or information received from the vehicles the infrastructure sensor unit 220 is positioned around a road and obtains surrounding environment information through a plurality of sensors the infrastructure sensor unit 220 includes a laser scanner 221 a vision sensor 222 a radar 223 and the like the infrastructure sensor unit 220 detects various information such as a position of a driving vehicle an obstacle and the like on a road necessary for the autonomous driving of the vehicle through the sensors the sensors 221 222 and 223 included in the infrastructure sensor unit 220 output the detected information to the infrastructure sensor information obtaining unit 230 the infrastructure sensor information obtaining unit 230 obtains sensor information from each of the infrastructure sensors 221 222 and 223 the vehicle sensor information obtaining unit 230 outputs the sensor information to the infrastructure based driving condition recognizing unit 250 the traffic information collecting unit 240 is connected with the traffic center 300 and the traffic light control device 400 the traffic information collecting unit 240 collects traffic condition information from the traffic center 300 and collects traffic light state.