PURPOSES : An automated driving guidance framework was developed for automated vehicles based on cooperation between infrastructure and automated vehicles. The proposed automated driving guidance framework is assumed to function only when an automated vehicle encounters situations in which it cannot safely pass through without cooperation with the infrastructure.
METHODS : A four-step concept of automated driving guidance levels was employed, and the decision criteria, such as moving object, event, and externality, were defined as the criteria for determining the automated driving guidance level. The judgment criteria of each stage and procedure for determining the autonomous driving guidance level were determined based on successive judgments, and the proposed automated driving guidance framework was designed based on an expert survey. The survey was aimed at experts with experience related to automated driving system research or technology development.
RESULTS : The resulting framework shows the steps and criteria for determining whether automated driving guidance is required under a specific situation and what the guidance should be.
CONCLUSIONS : The proposed automated driving guidance framework is designed to function only when an automated vehicle encounters situations in which it cannot safely pass through without cooperation with the infrastructure.

ABSTRACT
1. 서론
    1.1. 연구의 개요
    1.2. 연구의 흐름
2. 선행연구 검토
    2.1. 협력 기반 자율주행 단계 구분 관련 연구 동향
    2.2. 자율주행 관련 도로 인프라 구분 연구 동향
    2.3. 소결
3. 자율주행 가이던스 단계 정립 및 단계 결정요인 도출
    3.1. 방법론
    3.2. 자율주행 가이던스 단계 정립
    3.3. 자율주행 가이던스 단계 결정 요인 도출
4. 자율주행 가이던스 프레임워크 개발
    4.1. 방법론
    4.2. 자율주행 가이던스 단계 결정 요인별 검토 순서및 요인별 단계 결정
    4.3. 자율주행 가이던스 프레임워크
5. 결론 및 향후연구
REFERENCES

• 위정란(서울시립대학교 교통공학과 박사과정) | Wee Jeongran
• 소재현(아주대학교 교통시스템공학과 조교수) | So Jaehyun
• 이종덕(한국교통연구원 도로교통연구본부 책임전문원) | Lee Jongdeok Corresponding author