Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Human Driving Data Based Simulation Tool to Develop and Evaluate Automated Driving Systems' Lane Change Algorithm in Urban Congested Traffic

도심 정체 상황에서의 자율주행 차선 변경 알고리즘 개발 및 평가를 위한 실도로 데이터 기반 시뮬레이션 환경 개발

  • 서다빈 (서울대학교 기계공학과) ;
  • 채흥석 (서울대학교 기계공학과) ;
  • 이경수 (서울대학교 기계공학과)
  • Received : 2021.10.04
  • Accepted : 2023.06.20
  • Published : 2023.06.30
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Abstract

This paper presents a simulation tool for developing and evaluating automated driving systems' lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm.

Keywords

Acknowledgement

본 연구는 국토교통부 도심도로 자율협력주행 안전·인프라 연구 사업의 연구비지원(과제번호 19PQOW-B152473-01)에 의해 수행되었습니다.

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