회전교차로 주행 협상 서비스시나리오 정의/구현 및 실도로 실증
Roundabout Negotiation Service: Scenario Definition/Implementation and Real-Road Validation
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레벨 4 이상 자율주행 차량의 고신뢰 주행 지원을 위하여 일반주행로, 회전교차로 등 다양한 도로 환경에서 여러 차량 간 상호작용이 요구되며 이에 따라 차량 간 V2X 통신 기반 주행 협상 기술의 개발이 필수적이다. 본 논문에서는 다양한 도로 환경 중 회전교차로에서의 차량 간 주행 협상 서비스 시나리오에 대하여 정의하였으며, 각 시나리오에 따른 연구 및 실도로 실증에 관해 기술하였다. 본 논문에서 제시한 세 가지의 주행 협상 서비스 시나리오는 차량 간 통신 표준인 SAE J3216의 Class A, B, C, D 표준을 기반으로 고안하였다. 자율주행 서비스 기술 개발을 위해 실제 회전교차로 시험 환경에서 실시간 주행 협상을 수행하였으며 초저지연(10ms 이하), 초고속(150Mbps 이상)의 V2X 통신 기술을 통해 신뢰성 99% 이상을 만족하는 것을 실험을 통해 확인하였다. 실험결과를 통해 실증된 응용 서비스는 도로, 교통, 물류 및 상업 산업에서 V2X 기술 경쟁력을 강화할 것으로 예상된다.
Abstract
To support highly reliable driving for Level 4 and above autonomous vehicles, interaction among multiplevehicles is required in various road environments, such as general roads and roundabouts. This necessitates thedevelopment of V2X communication-based driving negotiation technology between vehicles. This paper defines adriving negotiation service scenario specifically for roundabouts and describes the research and real-road validationconducted based on this scenario. The proposed driving negotiation service scenarios were developed in alignmentwith SAE J3216 Class A, B, C, and D standards. Real-time driving negotiation tests were conducted in a real-worldroundabout environment to facilitate the development of autonomous driving service technology, achieving highreliability (99% or more) through ultra-low latency (10 ms or less) and ultra-high-speed (150 Mbps or more) V2Xcommunication technology. Based on the experimental results, this validated application service is expected toenhance the competitiveness of V2X technology across road, transportation, logistics, and commercial sectors.
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