Until all vehicles are equipped with autonomous driving technology, there will inevitably be mixed traffic conditions that consist of autonomous vehicles (AVs) and manual vehicles (MVs). Interactions between AVs and MVs have a negative impact on traffic flow. Cloverleaf interchanges (ICs) have a high potential to cause traffic accidents owing to merging and diverging. Analyzing the driving safety of cloverleaf ICs in mixed traffic flows is an essential element of proactive traffic management to prevent accidents. This study proposes a comprehensive simulation approach that integrates driving simulation (DS) and traffic simulation (TS) to effectively analyze vehicle interactions between AVs and MVs. The purpose of this study is to identify hazardous road spots for a freeway cloverleaf IC by integrating DS and TS in mixed traffic flow. The driving behavior data of MVs collected through a DS were used to implement vehicle maneuvering based on an intelligent driver model in the TS. The driving behavior of the AVs was implemented using the VISSIM parameters of the AVs presented in the CoEXist project. Additionally, the market penetration rate of AVs, ranging from 10% to 90% in 10% increments, was considered in the analysis. Deceleration rate to avoid crashes was adopted as the evaluation indicator, and pinpointing hazardous spot technique was used to derive hazardous road spots for the cloverleaf IC. The most hazardous road spot was identified in the deceleration lane where greater speed changes were observed. Hazardous road spots moved downstream within the deceleration lane as traffic volumes increased based on level of service. The number of AVs decelerating stably increased as traffic increased, thereby improving the safety of the deceleration lane. These results can be used to determine the critical point of warning information provision for preventing accidents when introducing AVs.

ABSTRACT
1. 서론
2. 기존 문헌 고찰
    2.1. TS 기반 차량 거동 구현 방법
    2.2. 혼재교통류 상황에서 자율차의 MPR에 따른 안전성분석 연구
    2.3. 기존 문헌과의 차별성
3. 방법론
    3.1. 연구흐름도
    3.2. DS 기반 후행 비자율차 주행행태정보 수집
    3.3. DS-TS 연계방안
    3.4. TS 기반 시나리오별 차량 주행행태정보 수집
    3.5. PHS를 활용한 도로 위험 지점 도출
4. 분석결과
    4.1. 후행 비자율차의 pair별 주행행태
    4.2. MPR별 도로 위험 지점
5. 결론
ACKNOWLEDGMENTS
REFERENCES

• 진현석(한양대학교 ERICA 스마트시티공학과 석사과정) | Jin Hyeonseok
• 정아람(한양대학교 ERICA 교통물류공학과 선임연구원) | Jung Aram
• 조영(한국건설기술연구원 도로교통연구본부 수석연구원) | Jo Young
• 오철(한양대학교 ERICA 교통물류공학과 교수) | Oh Cheol Corresponding author