Autonomous vehicle (AV) technology is rapidly entering the commercialization phase driven by advancements in artificial intelligence, sensor fusion, and communication-based vehicle control systems. Real-world road testing and pilot deployments are increasingly being conducted, both domestically and internationally. However, ensuring the safe operation of AVs on public roads requires not only technological advancement of the vehicle itself but also a thorough pre-evaluation of the road environments in which AVs are expected to operate. However, most previous studies have focused primarily on improving internal algorithms or sensor performance, with relatively limited efforts to quantitatively assess how the structural and physical characteristics of road environments affect AV driving safety. To address this gap, this study quantitatively evaluated the compatibility of road environments for AV operation and defined the road conditions under which AVs can drive safely. Three evaluation scenarios were designed by combining static factors such as curve radius and longitudinal gradient with dynamic factors such as level of service (LOS). Using the MORAI SIM autonomous driving simulator, we modeled the driving behaviors of autonomous vehicles and buses in a virtual environment. For each scenario, the minimum time to collision (mTTC) from the moment the AV sensors detected a lead vehicle was calculated to assess risk levels across different road conditions.The analysis revealed that sharper curves and lower service levels resulted in significantly increased risk. Autonomous buses exhibited a higher risk on downhill segments, autonomous vehicles were more vulnerable to uphill slopes and gradient transitions. The findings of this study can be applied to establish road design standards, develop pre-assessment systems for AV road compatibility, and improve AV route planning and navigation systems, thereby providing valuable implications for policy and infrastructure development.

ABSTRACT
1. 서론
2. 선행 연구 고찰
    2.1. 자율주행차 주행 안전성 평가 관련 연구
    2.2. 도로환경 적합도/안전성 평가 관련 연구
    2.3. 연구의 차별성
3. 연구방법론
    3.1. 자율주행 시뮬레이터
    3.2. 자율주행차 설정
    3.3. 도로환경 요인 정의
    3.4. 평가 시나리오 구성
    3.5. 도로환경 적합도 평가
4. 방법론 적용 및 분석
    4.1. 시나리오 1
    4.2. 시나리오 2
    4.3. 시나리오 3
5. 결론
감사의 글
REFERENCES

• 임동현(차세대융합기술연구원 첨단교통체계연구실 연구원) | Lim Donghyun
• 나성은(차세대융합기술연구원 첨단교통체계연구실 연구원) | Na Seongeun
• 윤승제(씨메스(CMES) R&D로봇첨단팀 연구원) | Yoon Seungje
• 정지원(㈜모라이 대표이사) | Jung Jiwon
• 김형주(차세대융합기술연구원 첨단교통체계연구실 연구실장) | Kim Hyungjoo Corresponding author