교통 서비스 수준을 고려한 도로교통 인프라 ODD별 자율주행 취약성 평가 기법

Abstract

This paper presents a novel methodology for assessing the vulnerabilities of autonomous vehicles (AVs) across diverse operational design domains (ODDs) related to road transportation infrastructure, categorized by the level of service (LOS). Unlike previous studies that primarily focused on the technical performance of AVs, this study addressed the gap in understanding the impact of dynamic ODDs on driving safety under real-world traffic conditions. To overcome these limitations, we conducted a microscopic traffic simulation experiment on the Sangam autonomous mobility testbed in Seoul. This study systematically evaluated the driving vulnerability of AVs under various traffic conditions (LOSs A–E) across multiple ODD types, including signalized intersections, unsignalized intersections, roundabouts, and pedestrian crossings. A multivariate analysis of variance (MANOVA) was employed to quantify the discriminatory power of the evaluation indicators as the traffic volume was changed by ODD. Furthermore, an autonomous driving vulnerability score (ADVS) was proposed to conduct sensitivity analyses of the vulnerability of each ODD to autonomous driving. The findings indicate that different ODDs exhibit varying levels of sensitivity to autonomous driving vulnerabilities owing to changes in traffic volume. As the LOS deteriorates, driving vulnerability significantly increases for AV–bicycle interactions and AV right turns at both signalized and unsignalized intersections. These results are expected to be valuable for developing scenarios and evaluation systems to assess the driving capabilities of AVs.