Self-driving cars have generated significant attention from international automotive OEMs, ICT companies and startups. While HD maps are critical for constructing national digital infrastructures, HD maps are essential for enabling Level 4 and Level 5 autonomous driving. Most of the current HD map systems offer information from static objects such as geometric maps and semantic maps. But estimates of nearby moving objects are critical to self-driving cars operating in dynamic scenes such as crowded urban areas. In this project, a HD dynamic (HDD) mapping system will be developed in which geometric maps, semantic maps and dynamic maps are built, fused and integrated. For exploring the feasibility, robustness and stableness of the proposed mapping system deployment, a system consisting of a cloud computing system, an edge computing system and a mixed reality system will be developed and tested in real-world settings.