A method for sharing data using a mobile edge computing (MEC) server in an autonomous driving system includes receiving a first controller area network (CAN) message from a first vehicle, generating a V2X message including information of the first CAN message when autonomous vehicle information is registered in the MEC server, and transmitting the V2X message to an autonomous vehicle connected to the MEC server via broadcast. This allows data to be shared between vehicles using different data types. At least one of an autonomous vehicle, a user terminal, and a server of the present disclosure may be associated with an artificial intelligence module, a drone (Unmannered Aerial Vehicle, UAV) robot, an augmented reality (AR) device, a virtual reality (VR) device, a device related to a 5G service, and the like.