Evaluation of Lateral Driving Safety for Manual Vehicles Following Autonomous Vehicles at Urban Roundabouts

Hojae Kim; Sangjae Lee; Young Jo; Juneyoung Park; Cheol Oh

doi:10.7470/jkst.2023.41.5.593

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2023 Vol.41, Issue 5 Preview Page Next Page

Article

Evaluation of Lateral Driving Safety for Manual Vehicles Following Autonomous Vehicles at Urban Roundabouts 단속류에서 자율차를 추종하는 비자율차 횡방향 안전성 연구 : 회전교차로를 중심으로

31 October 2023. pp. 593-606

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Abstract

The driving behavior of autonomous vehicles (AV) will affect manually-driven vehicles (MV) in the mixed traffic stream in which AV and MV coexist. This study evaluates the lateral safety of MV following AV at roundabout in the mixed traffic flow and identifies safety vulnerable sections of roundabout. Using SCANeR^TM, we built a virtual network based on real roads on a driving simulator, implemented an AV reflecting the characteristics of AV behavior and an MV following the AV. Lateral acceleration, steering velocity, and lane position were selected as indicators to evaluate lateral safety. In addition, safety vulnerable road sections were identified by the proposed sliding window-based evaluation method. As a result of the analysis of lateral acceleration and lane position, the safety vulnerable section was derived from the section before the exit to the roundabout. The proposed methodology was applied to the Paldalmun Rotary located in Suwon city. Regarding the steering angular velocity analysis, the section including the exit from the roundabout was derived as the safety vulnerable section. As a result of deriving the common safety vulnerable section, the section was derived from 11m to 24m upstream from the exit. Using the results of this study, it is possible to identify safety vulnerable sections of roundabouts in MV following AV events. It is expected　to contribute to improving the safety of MV through recommended countermeasures for the derived safety vulnerable sections.

Keywords

autonomous vehicle

car-following

lateral safety

roundabout

safety vulnerable sections

자율차(Autonomous Vehicle, AV) 및 비자율주행차량(Manually-Driven Vehicle, MV)이 혼재된 혼합교통류에서 자율차의 거동 특성은 비자율차의 주행행태에 영향을 미칠 것이다. 본 연구에서는 주행 시뮬레이션을 이용하여 회전교차로를 대상으로 자율차를 추종하는 비자율차의 횡방향 안전성을 평가하고, 이를 기반으로 안전성 취약구간을 추출하는 방법론을 개발하였다. 주행 시뮬레이션인 SCANeR^TM을 활용하여 실도로 기반 가상의 네트워크를 구축하였으며, 자율차의 주행 특성을 반영한 자율차 거동을 구현하였다. 시뮬레이션 실험 수행 시 비자율차 운전자는 선행 자율차를 추종하도록 시나리오를 구성하였다. 횡방향 안전성을 평가하기 위한 지표로 횡방향 가속도, 조향각속도, Lane position을 선정하였으며, 슬라이딩 윈도우 기반 단위 구간 평가를 통해 평가지표별 안전성 취약구간을 도출하였다. 최종적으로 각 평가지표에서 공통적으로 안전성이 취약한 구간을 종합하여 공통 안전성 취약구간을 식별하였다. 본 연구에서 개발한 방법론은 수원시 팔달구에 위치한 팔달문 로터리에 적용하였다. 횡방향 가속도 및 Lane position 분석 결과 안전성 취약구간은 팔달문 로터리의 진출부 직전 구간으로 도출되었다. 또한 진출부를 포함한 구간에서의 조향각속도 표준편차가 가장 높은 것으로 분석되었다. 특히 진출부로부터 상류부 11m에서 24m 구간이 공통 안전성 취약구간으로 도출되었다. 본 연구의 결과는 자율 및 비자율 차량추종 환경에서 회전교차로의 안전성 취약 구간을 식별하는데 활용될 수 있으며, 도출된 안전성 취약 구간에 대한 개선안 적용 시 교통류 안전성 향상에 기여할 수 있을 것으로 기대된다.

키워드

자율차

차량 추종

횡방향 안전성

회전교차로

안전성 취약 구간

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Information

Publisher :Korean Society of Transportation
Publisher(Ko) :대한교통학회
Journal Title :Journal of Korean Society of Transportation
Journal Title(Ko) :대한교통학회지
Volume : 41
No :5
Pages :593-606
Received Date : 2023-05-16
Revised Date : 2023-06-08
Accepted Date : 2023-07-26
DOI :https://doi.org/10.7470/jkst.2023.41.5.593

Journal of Korean Society of Transportation ISSN:1229-1366(Print) 2234-4217(Online) 대한교통학회지

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