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자율주행 시뮬레이션 연구의 자동화 단계별 특성 분석

Analysis of Automation Level Characteristics of Autonomous Driving Simulation Research

이상수|김재석|김호연|노치우
한국ITS학회 (The Korean Society of Intelligent Transport Systems)|2024.12|한국ITS학회 논문지 (Journal of Korean Society of Intelligent Transport Systems)|제23권 제6호|pp. 366-381|DOI https://doi.org/10.12815/kits.2024.23.6.366

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키워드

시뮬레이션자율주행시나리오SimulationAutonomous VehicleScenarioAutomated Vehicle자동화 단계Automation Level

초록

현재 국내외 자율주행 관련 연구가 활발하고 현장 데이터의 한계로 인하여 시뮬레이션 기반의연구가 주로 진행되고 있다. 그러나, 연구의 대상으로 하는 자율주행 기술의 범위와 시뮬레이션내 구현 방안의 편차에 의해 연구 결과의 경향성을 파악하기 어려운 실정이다. 따라서, 본 연구는자율주행 관련 연구의 문헌 검토를 기반으로 SAE 기술 단계별 특성을 분석하고, 분석 결과를바탕으로 향후의 발전 방향을 제시하였다. 분석 결과, 다수 연구에서 SAE 기준과 일치하지 않는가정으로 자율주행 차량을 구현하는 것으로 나타나 자율주행 기술 수준에 따른 교통 영향 예측과제도 반영에 혼란을 줄 수 있을 것으로 분석되었다. 또한, 차량 행태 모형의 매개변수 선정에서연구 간 일관성이 부족하여 비교 분석이 어려운 것으로 나타났으며 자율주행 혼재 시 객체 간의상호작용, 미래 교통 상황 변화를 고려한 연구가 부족한 것으로 분석되었다. 향후 본 연구의결과를 바탕으로 시뮬레이션 기반의 자율주행 연구에서 발전된 방향의 연구를 수행하고, 자율주행 상용화를 위한 사회적 검증 과정에 기여할 수 있을 것으로 기대한다.

Abstract

Currently, research on autonomous driving is actively conducted both domestically and internationally, with simulation-based studies being predominant due to the limitations of real-world data. However, it is challenging to identify trends in research outcomes due to the varying scopes of autonomous driving technologies and the differences in implementation approaches within simulations. Therefore, this study analyzes the characteristics of each SAE technology level based on a literature review of autonomous driving research and suggests directions for future advancements based on the analysis. The analysis revealed that many studies implement autonomous vehicles with assumptions that do not align with SAE standards, which could lead to confusion in predicting traffic impacts and incorporating regulations based on the level of autonomous driving technology. Furthermore, there is a lack of consistency in parameter selection for vehicle behavior models across studies, making comparative analyses difficult. Additionally, insufficient research has been conducted on interactions between entities in mixed traffic environments and future traffic condition changes. Based on the findings of this study, it is anticipated that future simulation-based research on autonomous driving will progress in more advanced directions and contribute to the social validation process necessary for the commercialization of autonomous driving.

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