This study aims to analyze the driving trajectories and lateral behavior characteristics of autonomous vehicles via simulation and to derive the implications for roadway infrastructure design based on the analysis results. A three-lane, one-way autonomous driving simulation environment was established to replicate the actual driving characteristics of autonomous vehicles. Roadways were designed based on domestic road design standards (MLTM, 2020), where horizontal, vertical, and cross-sectional alignments were incorporated and design speeds ranging from 20 to 120 km/h were considered. Curves with minimum radii of 15, 30, 60, …, 710 m were implemented. Autonomous vehicles were driven along these designed roads to obtain driving data, including position, speed, and steering angle. The lateral deviation from the lane center was calculated for each lane by measuring the distance between the front and rear wheels of the vehicle and the lane centerline. This approach allows for the analysis of lane-specific deviation characteristics under different speeds and curve radii, thus enabling a quantitative assessment of the lateral clearance required for autonomous-vehicle operation. Lateral deviation increased when vehicles entered or exited curves, particularly in outer lanes and at curves with changing turning directions. Passenger cars and heavy vehicles showed decreasing deviations within curves, whereas the deviations varied in straight sections. The lateral clearance increased with the design speed for passenger cars, whereas heavy vehicles generally exhibited limited clearance owing to their larger size and mirror widths, with slight increases above 100 km/h. Autonomous vehicles maintained lane centers outside curve entries and exit sections, thus indicating that variable lane widths can be safely implemented. The existing design standards based on human driving may be adapted for autonomous vehicles, thus enabling more efficient roadway use while maintaining stability.

ABSTRACT
1. 서론
    1.1. 배경 및 목적
2. 자율차 시뮬레이션 환경 구성
    2.1. 도로 환경 구성
    2.2. 차량 주행 거동 환경 구성
    2.3. 차량 주행 데이터 취득
3. 차량 주행 거동 분석 결과
    3.1. 자동차 분석 결과
    3.2. 시사점
4. 결론 및 향후 연구과제
감사의 글
알림
REFERENCES

• 박재홍(한국건설기술연구원 도로교통연구본부 수석연구원) | Park Jaehong
• 임기원(한국건설기술연구원 도로교통연구본부 박사후연구원) | Lim Kiwon
• 조민지(한국건설기술연구원 도로교통연구본부 석사후연구원) | Cho Minji
• 윤덕근(한국건설기술연구원 도로교통연구본부 선임연구위원) | Yun Duk Geun Corresponding author