차량 동역학 정합성 향상을 위한 시뮬레이션 환경 검증 기법

초록

Verification is an essential procedure for advancing autonomous vehicle technologies. While validation using real vehicles ensures reliability, it faces limitations in terms of cost and safety. Therefore, simulation- based research utilizing virtual environments has emerged as an effective approach for verifying autonomous driving technologies. However, if virtual vehicle dynamics do not accurately reflect real-world vehicle behavior, validating the reliability and stability of these technologies become challenging. To address this issue, this study proposes a methodology for verifying vehicle dynamics in virtual environments based on actual vehicle data. In the first verification stage, vehicle behavior in the virtual environment is validated using driving input data collected from real vehicles. The second stage involves comparing motion data from actual and virtual vehicles to evaluate their dynamic similarity. Through this two-step approach, vehicle dynamics in virtual environments can be quantitatively assessed, enhancing simulation reliability based on real-world data. The proposed method aims to improve the reliability and efficiency of autonomous vehicle verification, complementing the limitations of physical testing and significantly reducing associated costs and risks.

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