KOREASCHOLAR

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.

ABSTRACT
1. 서론
2. 기존문헌 고찰
    2.1. AV의 운전능력 평가체계 관련 기존 문헌
    2.2. 교통량과 자율주행차 관계 관련 연구
    2.3. 연구의 차별성
3. 방법론
    3.1. 실도로 기반 시뮬레이션 환경 구현
    3.2. 선행 연구 기반 ODD별 평가지표 선정
    3.3. MANOVA 분석 기반 ODD별 교통량을 고려한 평가지표 가중치 도출
    3.4. ODD별 교통량에 따른 주행취약성 분석
4. 분석결과
    4.1. LOS별 ADVS 분석결과
    4.2. ADVS 증감율 패턴 분석결과
5. 결론
감사의 글
REFERENCES

• 김호선(한양대학교 ERICA 스마트시티공학과 박사과정) | Kim Hoseon
• 고지은(한양대학교 ERICA 교통물류공학과 박사후연구원) | Ko Jieun
• 오철(한양대학교 ERICA 교통물류공학과 교수) | Oh Cheol Corresponding author