AI-based self-driving vehicles use open networks and develop self-driving vehicles using ICT technology based on artificial intelligence on computer platforms. However, as hacking attacks on electronic control systems of self-driving vehicles have become possible, various hacking cases such as vehicle control system attacks and remote-control attacks have occurred. Cases of such hacking attacks are increasing the threat of hacking by outside attackers, and if self-driving cars become popular, the number of hacking cases will increase further. In this paper, we propose countermeasures for hacking attacks in terms of cybersecurity systems and technology to cope with hacking attacks. By separately presenting technology and institutional-centric security enhancement measures related to cybersecurity, it contributes to the construction of security for self-driving vehicles and the development of cybersecurity for unmanned defense robots. As security holes owned by self-driving technology are expected to leak personal information or cause personal injury, the need for security research on self-driving cars is increasing, and research on hacking attacks and security measures against self-driving cars is needed. As an additional research task, it is necessary to study the development of smart keys using NFC communication methods for self-driving vehicles and encryption programming methods for security authentication.