Mobile QR Code QR CODE : Journal of the Korean Society of Civil Engineers

  1. ์ •ํšŒ์›โ€ค์˜๋‚จ๋Œ€ํ•™๊ต ๋„์‹œ๊ณตํ•™๊ณผ ๋ฐ•์‚ฌ๊ณผ์ • (Yeungnam Universityโ€คiaenmoo@ynu.ac.kr)
  2. ์ข…์‹ ํšŒ์›โ€ค๊ต์‹ ์ €์žโ€ค์˜๋‚จ๋Œ€ํ•™๊ต ๋„์‹œ๊ณตํ•™๊ณผ ๋ถ€๊ต์ˆ˜ (Corresponding Authorโ€คYeungnam Universityโ€คtpgist@yu.ac.kr)
  3. ๋ฉ”ํƒ€๋นŒ๋“œ(์ฃผ) SW์—ฐ๊ตฌ๋ณธ๋ถ€ ๋ณธ๋ถ€์žฅ (Metabuild Co. Ltd.โ€คjhpark@metabuild.co.kr)



์ž์œจ์ฃผํ–‰, ๊ตํ†ต์ •๋ณด, ๋™์ ์ง€๋„์ •๋ณด, ๋„๋กœยท๊ตํ†ต ์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„
Autonomous driving, Traffic information, Local dynamic map (LDM), ADAS horizon

1. ์„œ ๋ก 

์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๋Š” ์ฐจ๋Ÿ‰ ์„ผ์„œ๋ฅผ ํ†ตํ•ด ์ˆ˜์ง‘๋˜๋Š” ์ž๋ฃŒ์™€ ์ด๋ฅผ ํ•ด์„ํ•˜๋Š” ๊ธฐ์ˆ ์„ ํ†ตํ•ด ๊ตฌํ˜„ ๊ฐ€๋Šฅํ•  ๊ฒƒ์œผ๋กœ ์ถ”์ง„๋˜์–ด ์™”๋‹ค. ์ฒจ๋‹จ ์šด์ „์ž ์ง€์› ์‹œ์Šคํ…œ(Advanced Driving Assistant System: ADAS)์™€ GNSS (Global Navigation Satellite System), ์นด๋ฉ”๋ผ, ๋ ˆ์ด๋” ๋“ฑ์˜ ์„ผ์„œ ๊ธฐ์ˆ  ๋ฐ ์ด๋ฅผ ํ†ตํ•ฉํ•˜๋Š” ๊ธฐ์ˆ ์€ ์ฐจ๋Ÿ‰ ๊ธฐ๋ฐ˜ ์ž์œจ์ฃผํ–‰ ๊ธฐ์ˆ ์˜ ๋Œ€ํ‘œ์  ์‚ฌ๋ก€๊ฐ€ ๋œ๋‹ค(Na et al., 2020). ๊ทธ๋Ÿฌ๋‚˜ ์ด๋Ÿฌํ•œ ์ฐจ๋Ÿ‰ ์„ผ์„œ ๊ธฐ๋ฐ˜ ์ž์œจ์ฃผํ–‰ ๊ธฐ์ˆ ์—๋Š” ํ•œ๊ณ„๊ฐ€ ์žˆ์Œ์— ๋Œ€ํ•œ ์ธ์‹์ด ์ฆ๊ฐ€ํ•˜๋ฉด์„œ(Kim et al., 2017a), ๋„๋กœยท๊ตํ†ต ์ธํ”„๋ผ ๊ธฐ์ˆ , ์ฐจ๋Ÿ‰๊ณผ ๋„๋กœยท๊ตํ†ต ์ธํ”„๋ผ ๊ฐ„ ํ†ต์‹  ๊ธฐ์ˆ , ๋ฐ์ดํ„ฐ ์†กยท์ˆ˜์‹  ๋ฐ ์ €์žฅยท๋ถ„์„ ๊ธฐ์ˆ  ๋“ฑ์˜ ํ˜‘๋ ฅ์ด ๋ณด๋‹ค ์•ˆ์ „ํ•˜๊ณ  ํ˜„์‹ค์ ์ธ ์ž์œจ์ฃผํ–‰(cooperative connected autonomous vehicles: CAV)์ด ๊ฐ€๋Šฅํ•จ์„ ์ธ์ •ํ•˜๊ณ  ์žˆ๋‹ค. ์ด๋Ÿฌํ•œ ๊ฒฐ๊ณผ๋กœ ๋„๋กœยท๊ตํ†ต ์ธํ”„๋ผ์— ๋Œ€ํ•œ ๊ด€๋ฆฌ์™€ ์šด์˜์„ ๋‹ด๋‹นํ•˜๋Š” ๊ตญํ† ๊ตํ†ต๋ถ€(Ministry of Land, Infrastructure and Transport: MOLIT)์—์„œ๋Š” 2022๋…„ ๋ ˆ๋ฒจ3 ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ ์‚ฌ์šฉํ™” ๋„๋ฅด๋งต์„ ์ˆ˜๋ฆฝํ•˜๋Š” ๋“ฑ ์ž์œจ์ฃผํ–‰ ๊ธฐ์ˆ  ๊ฐœ๋ฐœ์— ์ ๊ทน์  ๊ฐ€๋‹ดํ•˜๊ณ  ์žˆ๋‹ค(MOLIT, 2021).

๊ฒฐ๊ณผ์ ์œผ๋กœ, ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ์˜ ์ฃผํ–‰ ์•ˆ์ „์„ฑ์„ ๋†’์ด๊ธฐ ์œ„ํ•ด์„œ๋Š” ์ฐจ๋Ÿ‰ ๋ฐ ๋„๋กœ ์ธํ”„๋ผ์— ์„ค์น˜๋œ ์„ผ์„œ๋กœ๋ถ€ํ„ฐ ์ˆ˜์ง‘๋œ ์ •๋ณด์™€ ์ด๋“ค ์„ผ์„œ๋กœ ์ˆ˜์ง‘๋˜์ง€ ์•Š๋Š” ์ •๋ณด๋ฅผ ํ™œ์šฉํ•  ํ•„์š”๊ฐ€ ์žˆ๋‹ค. ํŠนํžˆ, ๋ ˆ๋ฒจ3 ์ด์ƒ์˜ ์ž์œจ์ฃผํ–‰ ๊ธฐ์ˆ ์€ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์Šค์Šค๋กœ ์ฃผํ–‰ ์ œ์–ด๋ฅผ ํ•˜๊ฒŒ ๋จ์œผ๋กœ ์„ผ์„œ๋“ค์˜ ์ธก์ • ๊ฐ€๋Šฅํ•œ ์‹œ๊ณต๊ฐ„์  ๋ฒ”์œ„๋ฅผ ๋„˜์–ด์„œ๋Š” ์ž์œจ์ฃผํ–‰ ์ •๋ณด์˜ ์ˆ˜์ง‘ ๋ฐ ํ™œ์šฉ์ด ํ•„์š”ํ•˜๋‹ค. ์ฆ‰, ์ž์œจ์ฃผํ–‰ ์ฐจ๋Ÿ‰์˜ ์ฃผํ–‰ ๊ฒฝ๋กœ ์ƒ์— ์ง€ํ˜•์ •๋ณด, ์œ„์น˜์ •๋ณด, ๊ตํ†ต์ •๋ณด ๋“ฑ ์ž์œจ์ฃผํ–‰์— ํ•„์š”ํ•œ ์ •์  ๋ฐ ๋™์  ์ •๋ณด๋ฅผ ๊ตฌ์„ฑํ•˜๊ณ  ๊ณต์œ ํ•˜๋Š” ๊ฒƒ์œผ๋กœ ์ •์˜๋˜๋Š” ๋™์ ์ง€๋„์ •๋ณด(local dynamic map: LDM)๊ฐ€ ํ•„์š”ํ•˜๋‹ค. ์„ผ์„œ ๊ธฐ๋ฐ˜ ์ž์œจ์ฃผํ–‰ ๊ธฐ์ˆ ์˜ ํ•œ๊ณ„๋ฅผ ๋ณด์™„ํ•˜๊ธฐ ์œ„ํ•ด LDM ๋ถ„์•ผ ์—ฐ๊ตฌ๊ฐ€ ์ผ๋ถ€ ์ˆ˜ํ–‰๋˜์—ˆ์ง€๋งŒ(Blervaque et al., 2006; Horita and Schwartz, 2015; Shimada et al., 2015; Yang et al., 2017), ์ •๋ณด์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ •, ์ฆ‰, ๋„๋กœ์˜ ์œ ํ˜•๋ณ„, ์ฐจ๋Ÿ‰์˜ ์†๋„๋ณ„ ์ •๋ณด์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๋Š” ๋งค์šฐ ์ œํ•œ์ ์ด๋‹ค. ๋”ฐ๋ผ์„œ ๋ณธ ์—ฐ๊ตฌ์˜ ๋ชฉ์ ์€ ์šฐ์„  LDM ๋ฐ์ดํ„ฐ ์†์„ฑ์„ ๊ฒ€ํ† ํ•˜๊ณ , ์ด์™€ ๊ด€๋ จ๋œ LDM ์—ฐ๊ตฌ๋ฅผ ๋ถ„์„ยท๊ฒ€ํ† ํ•˜์—ฌ LDM ๊ด€๋ จ ์—ฐ๊ตฌ์˜ ํ•œ๊ณ„ ๋ฐ ์‹œ์‚ฌ์ ์„ ๋„์ถœํ•˜๋ฉฐ, ์ด๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ LDM ๊ธฐ๋ฐ˜ ๋„๋กœยท๊ตํ†ต์ •๋ณด์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ • ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์‹œํ•˜๊ณ ์ž ํ•œ๋‹ค.

2. LDM ์ •์˜ ๋ฐ ๊ฐœ๋…

LDM์ด๋ž€ ITS-station์— ๋‚ด์žฌ๋˜๊ณ , ์ง€ํ˜•, ์œ„์น˜, ์ƒํƒœ ์ •๋ณด์™€ ๊ด€๋ จ๋œ ITS-station ์ •๋ณด๋ฅผ ํฌํ•จํ•˜๋Š” ๊ฐœ๋…์  ๋ฐ์ดํ„ฐ ์ €์žฅ์†Œ๋ฅผ ๋งํ•˜๋ฉฐ, ์‹ค์‹œ๊ฐ„ ๋„๋กœยท๊ตํ†ต ์ •๋ณด์— ๋Œ€ํ•œ ์ˆ˜์ง‘ยท์ €์žฅยท๊ด€๋ฆฌยท์ œ๊ณต๊ณผ ITS-Station๊ฐ„ ์ •๋ณด ๊ณต์œ , C-ITS ๋ฐ ์ž์œจํ˜‘๋ ฅ์ฃผํ–‰ ์„œ๋น„์Šค ๊ตฌํ˜„์„ ๊ฐ€๋Šฅํ•˜๊ฒŒ ํ•˜๋Š” ๊ธฐ์ˆ ์ด๋‹ค. LDM ๋ฐ์ดํ„ฐ๋Š” 4๊ฐœ์˜ ๋ ˆ์ด์–ด(layer)๋กœ ๊ตฌ์„ฑ๋˜๋ฉฐ, ์˜๊ตฌ ์ •์ ์ •๋ณด(permanent static data), ์ผ์‹œ์  ์ •์ ์ •๋ณด(transient static data), ์ผ์‹œ์  ๋™์ ์ •๋ณด(transient dynamic data), ์™„์ „ ๋™์ ์ •๋ณด(highly dynamic data)๋กœ ๋‚˜๋‰œ๋‹ค(Fig. 1 ์ฐธ์กฐ). LDM ๊ด€๋ จ ํ‘œ์ค€์œผ๋กœ๋Š” ETSI TR 102 863(2011), ETSI EN 302 895(2014), ISO 18750 ๋“ฑ์ด ์žˆ์ง€๋งŒ ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” LDM ๋ฐ์ดํ„ฐ ์†์„ฑ์— ๋Œ€ํ•œ ์ •์˜ ๋ฐ ์„ค๋ช…์ด ์ž˜๋˜์–ด ์žˆ๋Š” ETSI TR 102 863์„ ์ฐธ๊ณ ํ•˜์˜€๋‹ค.

Fig. 1. Concept of the LDM Layer(Shimada et al., 2015)
../../Resources/KSCE/Ksce.2022.42.4.0519/fig1.png

ETSI TR 102 863์€ ITS ํ‘œ์ค€์— ๊ทผ๊ฑฐํ•œ LDM ๊ฐ€์ด๋˜์Šค๋ฅผ ์ œ๊ณตํ•˜๊ณ , LDM ์š”์†Œ๋ฅผ ํŠน์ •ํ•˜๊ฑฐ๋‚˜ ์ •์˜ํ•œ๋‹ค. ํ•œํŽธ, LDM ์•„ํ‚คํ…์ฒ˜๋Š” ETSI EN 302 895๋ฅผ ์ฐธ์กฐํ•œ๋‹ค. LDM ์•„ํ‚คํ…์ฒ˜๋Š” LDM ๊ด€๋ฆฌ ์‹œ์Šคํ…œ(LDM Management)์™€ ๋ฐ์ดํ„ฐ ์ €์žฅ์†Œ(Data Store)๋กœ ๋‚˜๋‰˜๋ฉฐ(Fig. 2 ์ฐธ์กฐ), ITS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜์€ LDM ์šด์˜๊ด€๋ฆฌ ์‹œ์Šคํ…œ์„ ํ†ตํ•ด ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ํ•„์š”ํ•œ ๋„๋กœยท๊ตํ†ต ์ •๋ณด๋ฅผ ์ „๋‹ฌํ•œ๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ITS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜์„ ์ค‘์‹ฌ์œผ๋กœ ๊ฒ€ํ† ํ•˜์˜€์œผ๋ฉฐ, Table 1์€ ITS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜์˜ ๋ฐ์ดํ„ฐ ์†์„ฑ ์ธก๋ฉด์„ ์ •๋ฆฌํ•œ ๊ฒƒ์ด๋‹ค. ์ด ํ‘œ๋Š” ๊ตญ๋‚ด์—์„œ ์ตœ๊ทผ ์ˆ˜ํ–‰๋œ LDM ๊ด€๋ จ ์—ฐ๊ตฌ๋กœ, ์ •๋ฐ€์ „์ž์ง€๋„ ๊ธฐ๋ฐ˜์˜ LDM ๊ฐœ๋ฐœ์„ ์œ„ํ•ด LDM ๊ฐœ๋… ๋ฐ ์•„ํ‚คํ…์ฒ˜, LDM ๊ธฐ๋Šฅ์˜ ์š”๊ตฌ์‚ฌํ•ญ ๋“ฑ์„ ์ •์˜ํ•˜์˜€๋‹ค(ITS-K, 2020). ์—ฐ๊ตฌ์ง„์€ LDM ๋ฐ์ดํ„ฐ ์†์„ฑ ๋ฐ ๋ฐ์ดํ„ฐ ์†กยท์ˆ˜์‹  ๋“ฑ์— ๋Œ€ํ•œ ์ธํ„ฐํŽ˜์ด์Šค ์ •์˜๋ฅผ ์œ„ํ•ด ITS-Station ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜ ์ •์˜๊ฐ€ ์šฐ์„ ๋˜์–ด์•ผ ํ•œ๋‹ค๊ณ  ์ฃผ์žฅํ–ˆ์œผ๋ฉฐ, LDM ๋ฐ์ดํ„ฐ๋ฅผ ๋„ค ๊ฐ€์ง€ ์†์„ฑ์œผ๋กœ ๊ตฌ๋ถ„ํ•˜์˜€๋‹ค(Table 1 ์ฐธ์กฐ).

Fig. 2. LDM Architecture
../../Resources/KSCE/Ksce.2022.42.4.0519/fig2.png

๊ตญยท๋‚ด์™ธ LDM ๋ฐ์ดํ„ฐ ์†์„ฑ์— ๋Œ€ํ•œ ๋Œ€ํ‘œ์ ์ธ ์—ฐ๊ตฌ ์‚ฌ๋ก€๋ฅผ ๊ฒ€ํ† ํ•œ ๊ฒฐ๊ณผ, LDM ๋ฐ์ดํ„ฐ๋Š” ์ผ๋ฐ˜์ ์œผ๋กœ 4๊ฐ€์ง€๋กœ ๊ตฌ๋ถ„ํ•  ์ˆ˜ ์žˆ์œผ๋ฉฐ, ๋ ˆ์ด์–ด๋ณ„ ์†์„ฑ ์ •๋ณด์— ๋Œ€ํ•ด์„œ๋Š” ์ฐจ์ด๊ฐ€ ์žˆ๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ETSI TR 102 863์˜ ๊ฒฝ์šฐ, Layer 1์— ํ•ด๋‹นํ•˜๋Š” ์ง€๋„ ์ •๋ณด๋ฅผ ๊ฐ„๋žตํ•˜๊ฒŒ ํ‘œํ˜„ํ•˜์˜€์ง€๋งŒ, ITS-K์˜ ๊ฒฝ์šฐ, ์ฐจ์„ ์ •๋ณด, ์ •์ง€์„ ์ •๋ณด, ๋…ธ๋“œ์ •๋ณด, ๋งํฌ์ •๋ณด ๋“ฑ ๊ฐœ๋ณ„์ ์œผ๋กœ ์ •์˜ํ•˜์˜€๋‹ค. ๋˜ํ•œ ITS-K๋Š” ๋…ธ๋ฉดํ‘œ์ง€์ •๋ณด๋‚˜ ๊ตํ†ต์•ˆ์ „ํ‘œ์ง€์ •๋ณด, ์‹ ํ˜ธ๋“ฑ ์œ„์น˜์ •๋ณด ๋“ฑ์ด Layer 1๋กœ ์ •์˜๋˜์–ด ์žˆ์œผ๋‚˜ ETSI TR 102 863์€ Layer 2๋กœ ์ •์˜๋œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ Layer 3, 4์— ๋ฐ์ดํ„ฐ ์†์„ฑ ์ •๋ณด๋Š” ๋น„๊ต์  ์œ ์‚ฌํ•œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค.

๊ฒฐ๊ณผ์ ์œผ๋กœ, LDM ๊ด€๋ จ ๊ตญ๋‚ด์—ฐ๊ตฌ ๋ฐ ๊ตญ์ œํ‘œ์ค€์„ ๊ฒ€ํ† ํ•œ ๊ฒฐ๊ณผ, LDM ๋ฐ์ดํ„ฐ ์†์„ฑ์˜ ์ •์˜๋Š” ๋ฐ์ดํ„ฐ ํ™œ์šฉ ๋ชฉ์ ์— ๋”ฐ๋ผ ๋‹ฌ๋ผ์งˆ ์ˆ˜ ์žˆ๋‹ค. ๋˜ํ•œ LDM ํ‘œ์ค€์€ ํ˜„์žฌ์—๋„ ์—ฐ๊ตฌ๋˜๊ณ  ์žˆ์œผ๋ฉฐ, ๊ธฐ์ˆ ๊ณผ ํ™˜๊ฒฝ์˜ ๋ณ€ํ™”์— ๋”ฐ๋ผ ์ง€์†์ ์ธ ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•œ ๊ฒƒ์œผ๋กœ ํŒ๋‹จ๋œ๋‹ค.

Table 1. Classification by ITS Application Information Elements(ITS-K, 2020)

Type of LDM data

Category

Details

Permanent static data

Local road topography

Lane precise local road topography

Positions of permanent local point of interest (POI) and services (including public car parks)

Name, Type, Location information, Total number of parking spaces, Park & Walk or Park & Ride

Positions of local toll collection points

Name, Location information, Direction

Statutory speed limit descriptor

Location information, Direction, Speed

Transient static data

Traffic signals and traffic signs

Location information of signals and signs

Positions and meaning of new signs not in the pre-loaded map data

Location information of road sign, Type, Sign parameters

Positions of new POI and services (including public car parks)

Name, Type, Location information, Total number of parking spaces, Park & Walk or Park & Ride

Toll charge for each collection point

Transient dynamic data

Locations and dimensions of road works

Location information, Direction affected, Speed limitations

Temporary speed limit descriptor, Current status of traffic signals

Location information, Direction, Speed

Current status of traffic signals

Phase currently facing host vehicle

Locations and dimensions of hazard (including stationary vehicle and weather conditions)

Location information of hazard

โ€“

Identity of lane affected, Hazard type, Propagation range of hazard report, Propagation direction of hazard report, Current status of hazard

Temporary changes in lane or road direction restrictions

Lane identifier, Restriction type, Direction of traffic flow, Speed limitation, Location information

Designed progression speed through linked traffic signals

Location information of linked signals, Direction of traffic flow, Progression speed

Positions of temporary points of interest (including public car parks)

Name, Type, Location information, Total number of parking spaces, Park & Walk or Park & Ride

Current status of all permanent and temporary local parking facilities

Open/Closed status, Number of free spaces/percentage full

Position and meaning of temporary signs not in the preloaded map data

Location information of road sign, Type, Sign parameters

Highly dynamic data

Current speed, position and direction of all ITS Stations within range of the host

Pseudonym, Vehicle Type, Current status, Speed, Direction, Location information, Lane occupied

3. ์„ ํ–‰์—ฐ๊ตฌ ๊ฒ€ํ† 

LDM ๋ฐ์ดํ„ฐ ์†์„ฑ์„ ์ •์˜ํ•˜๊ฑฐ๋‚˜ LDM ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•˜๋Š” ๋ฐฉ์•ˆ์€ ๋‹ค์–‘ํ•˜์ง€๋งŒ, ๊ด€๋ จ ํ‘œ์ค€์ด ์•„์ง ์™„์„ฑ๋˜์ง€ ์•Š์•˜์œผ๋ฉฐ, ํŠนํžˆ ์ž์œจ์ฃผํ–‰ ์ฐจ๋Ÿ‰์ด ์ด๋™ํ•˜๋Š” ๋„๋กœ์˜ ์œ ํ˜•๋ณ„ ํ˜น์€ ์ฐจ๋Ÿ‰์˜ ์†๋„์— ๋”ฐ๋ฅธ ์‹œ๊ณต๊ฐ„์  ์ •๋ณด์˜ ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๋Š” ์ถฉ๋ถ„ํžˆ ๊ฒ€์ฆ๋˜์ง€ ๋ชปํ•œ ์ƒํƒœ๋‹ค. ๋”ฐ๋ผ์„œ ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ITS ๋ฐ์ดํ„ฐ์˜ ๊ด€์ ์—์„œ ๊ธฐ์กด ์—ฐ๊ตฌ๋ฅผ ๊ฒ€ํ† ํ•˜์˜€์œผ๋ฉฐ ์ง€๋„ ๋ฐ์ดํ„ฐ ๋ณ€ํ™˜๊ด€๋ จ ์—ฐ๊ตฌ, ๊ธฐ์กด LDM ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•œ ์ƒˆ๋กœ์šด ๊ตํ†ต์ •๋ณด ์ƒ์„ฑ ์—ฐ๊ตฌ, LDM ๋ฐ์ดํ„ฐ ํ™œ์šฉ ์—ฐ๊ตฌ, ์ž์œจ์ฃผํ–‰ ์‹คํ—˜์œผ๋กœ ๊ตฌ๋ถ„ํ•˜์—ฌ ์„ ํ–‰์—ฐ๊ตฌ๋ฅผ ์ •๋ฆฌํ•˜๊ณ ์ž ํ•˜์˜€๋‹ค.

3.1 ์ง€๋„ ๋ฐ์ดํ„ฐ ๋ณ€ํ™˜

Horita and Schwartz(2015)๋Š” ์ž์œจ์ฃผํ–‰์„ ์œ„ํ•œ ADAS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜์˜ ํ•„์š” ๋ฐ์ดํ„ฐ ๋Ÿ‰์„ ๋‚ฎ์ถ”๋Š” ํ•œํŽธ, ์ž์œจ์ฃผํ–‰์ด ๊ฐ€๋Šฅํ•˜๋„๋ก ์ถฉ๋ถ„ํ•œ ๋ฐ์ดํ„ฐ ์ œ๊ณต์˜ ์ตœ์ ์ ์„ ์ฐพ๊ธฐ ์œ„ํ•ด ADASIS (advanced driver assistance systems interface specification) v2 ๋ฐ LDM์˜ ๊ฐœ๋…์„ ํ™•์žฅํ•˜๊ณ ์ž ํ•˜์˜€๋‹ค. ๊ฒฐ๊ณผ์ ์œผ๋กœ MPP (most probable path) ๊ฐœ๋… ๊ธฐ๋ฐ˜ ์„ค์ •๋œ ๊ฒฝ๋กœ๋ฅผ ๊ฑฐ์‹œ์  ๊ด€์ ์˜ path map๊ณผ ๋ฏธ์‹œ์  ๊ด€์ ์˜ spatial map์„ ์œ ๋™์ ์œผ๋กœ ์‚ฌ์šฉํ•˜๋Š” ํ•˜์ด๋ธŒ๋ฆฌ๋“œ ํ˜•ํƒœ์˜ ๋ฐ์ดํ„ฐ ๋ชจ๋ธ์„ ๊ตฌ์ถ•ํ•˜์˜€๋‹ค. ์ด๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์‹คํ—˜ํ•œ ๊ฒฐ๊ณผ, 30 km/h ์ˆ˜์ค€์˜ ์ž์œจ์ฃผํ–‰ ํ…Œ์ŠคํŠธ์— ์„ฑ๊ณตํ•˜์˜€์œผ๋ฉฐ, ์ฐจ์„  ๋ณ€๊ฒฝ ๋ฐ ๊ต์ฐจ๋กœ ์šดํ–‰์ด ๊ฐ€๋Šฅํ•œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋˜ํ•œ ๋งํฌ ์ˆ˜๊ฐ€ ๋งŽ์€ ๊ตฌ๊ฐ„์˜ ๊ฒฝ์šฐ, ๋ฐ์ดํ„ฐ ๊ฐ์†Œ์œจ์ด ์ตœ๋Œ€ 80 %๊นŒ์ง€ ๋‚˜ํƒ€๋‚˜ ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์—์„œ์˜ ๋ฐ์ดํ„ฐ ์‚ฌ์šฉ๋Ÿ‰ ๊ฐ์†Œ ์ธก๋ฉด์— ๋งŽ์€ ์ด์ ์ด ์žˆ๋Š” ๊ฒƒ์œผ๋กœ ํŒ๋‹จ๋œ๋‹ค. Yang et al.(2017)์€ LDM ๋ฐ์ดํ„ฐ์˜ ๋น ๋ฅด๊ณ  ์ •ํ™•ํ•œ ์†กยท์ˆ˜์‹  ํšจ์œจ์„ ๋†’์ด๊ธฐ ์œ„ํ•ด ๊ตญํ† ์ •๋ณด์ง€๋ฆฌ์›์˜ ์ •๋ฐ€์ „์ž์ง€๋„ ๋ฐ์ดํ„ฐ ๊ตฌ์กฐ์˜ ๋ณ€ํ™˜๊ณผ LDM์˜ ์ž์ฒด์ ์ธ DM (dynamic map) ํ”„๋กœํ† ์ฝœ์„ ์ œ์•ˆํ•˜์˜€๋‹ค. ๊ฒฐ๊ณผ์ ์œผ๋กœ ์ „๋ฐฉ์˜ ๋ฐ์ดํ„ฐ ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์ด ๋„“์–ด์งˆ์ˆ˜๋ก ๋ฐ์ดํ„ฐ์˜ ํฌ๊ธฐ์™€ ๋ฐ์ดํ„ฐ ์ฒ˜๋ฆฌ ์†Œ์š”์‹œ๊ฐ„์ด ์ฆ๊ฐ€ํ•˜๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ์œผ๋ฉฐ, ์ด๋ฅผ ๋ฐ”ํƒ•์œผ๋กœ, 0.2 s ๊ธฐ์ค€ ์ตœ๋Œ€ 250 m์˜ ๋ฐ์ดํ„ฐ ๊ตฌ๊ฐ„์— ๋Œ€ํ•œ ๋ฐ์ดํ„ฐ ์ฒ˜๋ฆฌ ๊ธฐ์ค€์„ ์ œ์‹œํ•˜์˜€๋‹ค.

3.2 ๊ตํ†ต์ •๋ณด ์ƒ์„ฑ

Yang and Jeon(2018a)์€ ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์— ๋†’์€ ์ •ํ™•๋„์˜ ์œ„์น˜์ •๋ณด๊ฐ€ ํ•„์š”ํ•˜๋ฉฐ, ๋‹ค์–‘ํ•œ ์ง€๋„ ์ •๋ณด ๊ฐ„์˜ ์œ„์น˜์ •๋ณด๋ฅผ ๊ตํ™˜ํ•˜๋Š” ๋ฐฉ๋ฒ•๋ก  ๊ฐœ๋ฐœ์ด ํ•„์š”ํ•˜๋‹ค๊ณ  ์–ธ๊ธ‰ํ•˜์˜€๋‹ค. ์ด๋ฅผ ์œ„ํ•ด ์ง€๋„ ๊ฐ„ ๊ณต์œ  ๋ฐ์ดํ„ฐ๋ฒ ์ด์Šค ์—†์ด ์œ„์น˜์ •๋ณด์˜ ๊ตํ™˜์ด ๊ฐ€๋Šฅํ•œ ๋™์ ์œ„์น˜์ฐธ์กฐ ๋ฐฉ๋ฒ•์„ ๊ฐœ๋ฐœํ•˜์˜€๋‹ค. ์ธ์ฝ”๋”ฉ/๋””์ฝ”๋”ฉ์˜ ๊ณผ์ •์„ ํ†ตํ•ด ์˜ค์ฐจ 25 cm ๋ฏธ๋งŒ์˜ ์ •ํ™•๋„๋ฅผ ๊ฐ€์ง€๋Š” L-LRM (lane-level location referencing method) ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์„ค๊ณ„ํ•˜์˜€์œผ๋ฉฐ, ๊ตฌ์ถ•๋œ ํ‰๊ฐ€ ํˆด์„ ํ™œ์šฉํ•˜์—ฌ ๋ฐฉ๋ฒ•๋ก ์„ ํ‰๊ฐ€ํ•˜์˜€๋‹ค. ๋” ๋‚˜์•„๊ฐ€ ์ง€๋„ ์ •๋ณด๋ฟ ์•„๋‹ˆ๋ผ ๋„๋กœ ์œ„ ์ด๋ฒคํŠธ ์ •๋ณด์— ๋Œ€ํ•œ ์ฐจ๋กœ ์ˆ˜์ค€์˜ ์œ„์น˜ ํŒŒ์•…์ด ๊ฐ€๋Šฅํ•œ ๋™์ ์œ„์น˜์ฐธ์กฐ๋ฐฉ๋ฒ•์„ ๊ฐœ๋ฐœํ•˜์˜€์œผ๋ฉฐ, ์ด๋ฒคํŠธ ๋™์ ์ •๋ณด์˜ ํ™œ์šฉ์ด ๊ฐ€๋Šฅํ•œ ๋””์ง€ํ„ธ ๋„๋กœ ์ด๋ฒคํŠธ ๊ด€๋ฆฌ ์‹œ์Šคํ…œ์„ ๊ฐœ๋ฐœํ•˜์˜€๋‹ค(Yang and Jeon, 2018b; Yang and Jeon, 2018c).

3.3 ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜ ๊ฐœ๋ฐœ

Blervaque et al.(2006)์€ ์„ผ์„œ ์ •๋ณด ๊ธฐ๋ฐ˜์˜ ADAS๋ฅผ ๋””์ง€ํ„ธ ์ง€๋„์™€ ์ฐจ๋Ÿ‰ ์œ„์น˜ ์ •๋ณด๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์ „๋ฐฉ ๋„๋กœยท๊ตํ†ต ์ƒํ™ฉ์„ ํŒŒ์•…ํ•˜์—ฌ ๊ทธ ๊ธฐ๋Šฅ์„ ํ™•๋Œ€ํ•˜๊ณ ์ž ํ•˜์˜€๋‹ค. ๋˜ํ•œ, ADAS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜ ์ง€์›์ด ๊ฐ€๋Šฅํ•œ ์ง€๋„ ๋ฐ์ดํ„ฐ์˜ ํ‘œ์ค€ ์ธํ„ฐํŽ˜์ด์Šค๋ฅผ ๊ฐœ๋ฐœํ•˜๊ณ  ํ‰๊ฐ€ํ•˜์˜€๋‹ค. ๊ฒฐ๊ณผ์ ์œผ๋กœ ์ง€๋„ ๋ฐ์ดํ„ฐ์˜ ADAS ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜ ์ ‘๊ทผ์€ ๊ฐ€๋Šฅํ•˜์˜€์œผ๋ฉฐ, ํ†ต์‹  ๋Œ€์—ญํญ ์š”๊ตฌ ์‚ฌํ•ญ์€ ๋ฒ„์Šค ์šฉ๋Ÿ‰ 0.1 ~ 1.5 %๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋˜ํ•œ ๋ฐฑ๊ทธ๋ผ์šด๋“œ ํŠธ๋ž˜ํ”ฝ์— ๋ถ€๊ณผ๋˜๋Š” ๋Œ€๊ธฐ์‹œ๊ฐ„์€ ์ตœ๋Œ€ 0.53 ms๋กœ ๋‚˜ํƒ€๋‚ฌ์œผ๋ฉฐ, ์ง€๋„-ADAS๊ฐ„ ๋ฐ์ดํ„ฐ ์ŠคํŠธ๋ฆผ ๋Œ€๊ธฐ์‹œ๊ฐ„์€ ์ตœ๋Œ€ 1 ms๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. Shimada et al.(2015)์€ C-ITS ๊ด€์ ์—์„œ ์ฐจ๋Ÿ‰ ์ œ์–ด ๋ฉ”์ปค๋‹ˆ์ฆ˜ ์—ฐ๊ตฌ๋ฅผ ์ˆ˜ํ–‰ํ•˜์˜€์œผ๋ฉฐ, ์ถฉ๋Œ ๊ฐ์ง€ ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜ ๊ธฐ๋ฐ˜ LDM์„ ๊ตฌํ˜„ํ•˜๊ณ  ํ‰๊ฐ€ํ•˜์˜€๋‹ค. ์ฐจ๋กœ, ์ฐจ๋Ÿ‰์†๋„ ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์ •์ง€์‹œ๊ฑฐ ์‚ฐ์ถœ, ์ •์ง€๊ฑฐ๋ฆฌ ์•Œ๊ณ ๋ฆฌ์ฆ˜(stopping distance algorithm: SDA) ์ ์šฉํ•œ ์ถ”๋Œ ์œ„ํ—˜ ๊ฒฝ๊ณ (longitudinal collision risk warning: LCRW) ์–ดํ”Œ๋ฆฌ์ผ€์ด์…˜์— ๋Œ€ํ•œ ์‹คํ—˜์„ ์ง„ํ–‰ํ•˜์˜€๋‹ค. LCRW ์‚ฐ์ถœ ์ฃผ๊ธฐ๋Š” 100 ms, 500 ms์ด๋ฉฐ, ์ฐจ๋Ÿ‰์ •๋ณด๋Š” 50 ms๋งˆ๋‹ค ๊ฐฑ์‹ ํ•˜์˜€๋‹ค. ๊ฒฐ๊ณผ์ ์œผ๋กœ ์ปดํ“จํ„ฐ ์„ฑ๋Šฅ์— ๋”ฐ๋ผ ๋ฐ์ดํ„ฐ ์‘๋‹ต์‹œ๊ฐ„์ด 6 ~ 15 ms๋กœ ํฐ ์‹œ๊ฐ„ ์ฐจ์ด๋ฅผ ๋ณด์˜€์œผ๋ฉฐ, ์ฐจ๋Ÿ‰ ๋Œ€์ˆ˜๊ฐ€ ์ฆ๊ฐ€ํ•จ์— ๋”ฐ๋ผ LDM ๋‚ด๋ถ€ ์—ฐ์‚ฐ ๋ถ€ํ•˜๊ฐ€ ๋†’์•„์ง€๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ์„ฑ๋Šฅ์ด ๋‚ฎ์€ ์ปดํ“จํ„ฐ์˜ ๊ฒฝ์šฐ, ์ฐจ๋Ÿ‰ ์ •๋ณด ์‚ฐ์ถœ์ด ๋˜์ง€ ์•Š๋Š” ๊ฒฝ์šฐ๋„ ๋ฐœ์ƒํ•˜๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค.

3.4 ์ž์œจ์ฃผํ–‰ ์‹คํ—˜

Kim et al.(2017b)์€ DGPS (differential global positioning system), 3D LiDAR ์ •๋ณด ์—†์ด ์ •๋ฐ€๋„๋กœ์ง€๋„ ์ •๋ณด๋งŒ ํ™œ์šฉํ•˜์—ฌ ์ž์œจ์ฃผํ–‰์ด ๊ฐ€๋Šฅํ•œ ์‹œ์Šคํ…œ์„ ๊ฐœ๋ฐœํ•˜์˜€๋‹ค. LiDAR, RADAR, GPS ์ •๋ณด์™€ ์ •๋ฐ€ ๋„๋กœ์ง€๋„๋ฅผ ๋น„๊ตํ•˜๋ฉฐ ํ•„์š” ๋ฐ์ดํ„ฐ์˜ ์ •ํ™•์„ฑ์„ ๋†’์˜€์œผ๋ฉฐ, ์ž์ฐจ ์œ„์น˜์ •๋ณด ๋ฐ ๋…ธ๋“œยท๋งํฌ ์ •๋ณด ๊ธฐ๋ฐ˜ ๊ฒฝ๋กœ๋ฅผ ์ƒ์„ฑํ•˜์˜€๋‹ค. ๊ฒฐ๊ณผ์ ์œผ๋กœ 40 km/h ์ดํ•˜ ์†๋„์—์„œ ์ž์œจ์ฃผํ–‰์ด ๊ฐ€๋Šฅํ•œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. Jung et al.(2021)์€ ๊ณ ์ •๋ฐ€ ์ง€๋„๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ์ฐจ์„ ์ •๋ณด ๋ฐ ์ฐจ๋Ÿ‰ ์ฃผ๋ณ€ ์ •๋ณด๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์— ๋งž๋Š” ๊ฒฝ๋กœ ์ •๋ณด๋ฅผ ์ƒ์„ฑํ•˜๋Š” ์—ฐ๊ตฌ๋ฅผ ์ง„ํ–‰ํ•˜์˜€์œผ๋ฉฐ, ๋ชฉ์ ์ง€๊นŒ์ง€ ์ฃผํ–‰ ์ค‘ ๊ฒฝ๋กœ ์œ„์— ์žˆ๋Š” ์žฅ์• ๋ฌผ ํšŒํ”ผ๋ฅผ ๋ชฉ์ ์œผ๋กœ ๊ฒฝ๋กœ ์ƒ์„ฑ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ œ์•ˆํ•˜์˜€๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•ด ๊ฒฝ๋กœ ์ƒ์„ฑ ์•Œ๊ณ ๋ฆฌ์ฆ˜์˜ ํšจ๊ณผ๋ฅผ ์ธก์ •ํ•˜์˜€์œผ๋ฉฐ, ๊ฒฐ๊ณผ์ ์œผ๋กœ ๊ฒฝ๋กœ์˜ ๊ธธ์ด๊ฐ€ ๋Š˜์–ด๋‚ ์ˆ˜๋ก, ์žฅ์• ๋ฌผ์˜ ๊ฐœ์ˆ˜๊ฐ€ ๋Š˜์–ด๋‚ ์ˆ˜๋ก ์—ฐ์‚ฐ์–‘์€ ์ฆ๊ฐ€ํ•˜๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ํ•˜์ง€๋งŒ ๋„์ถœ๋œ ์•Œ๊ณ ๋ฆฌ์ฆ˜์€ DWA (dynamic window approach)์˜ ํ•œ๊ณ„์ ์„ ๋ณด์™„ํ•˜๋ฉฐ, ํ”„๋ ˆ๋„ท ์ขŒํ‘œ ๊ฒฝ๋กœ์˜ ์žฅ์ ์„ ์–ด๋Š ์ •๋„ ๊ฐ€์งˆ ์ˆ˜ ์žˆ๋Š” ํšจ๊ณผ์ ์ธ ์•Œ๊ณ ๋ฆฌ์ฆ˜์œผ๋กœ ํŒ๋‹จ๋œ๋‹ค.

3.5 ์š”์•ฝ ๋ฐ ์‹œ์‚ฌ์ 

๊ธฐ์กด LDM ๊ด€๋ จ ์—ฐ๊ตฌ๋ฅผ ๊ฒ€ํ† ํ•œ ๊ฒฐ๊ณผ, ์—ฐ๊ตฌ ์ฃผ์ œ๋ณ„ ํŠน์ง•์„ ๋„์ถœํ•  ์ˆ˜ ์žˆ์—ˆ๋‹ค. ๋จผ์ €, ๋ฐ์ดํ„ฐ ํ‘œ์ค€๊ณผ ๊ด€๋ จ๋œ ์—ฐ๊ตฌ์˜ ๊ฒฝ์šฐ, ISO 18750, ESTI TR 102 863, OpenDRIVE ๋“ฑ ๋‹ค์–‘ํ•œ ํ‘œ์ค€์„ ๋น„๊ตํ•˜๋ฉฐ, ๋ณด์™„์ ์„ ์ฐพ์•„๊ฐ€๋ ค๋Š” ์‹œ๋„๊ฐ€ ์ฃผ๋ฅผ ์ด๋ฃจ์—ˆ๋‹ค. ์ง€๋„ ๋ฐ์ดํ„ฐ ๋ณ€ํ™˜๊ณผ ๊ด€๋ จ๋œ ์—ฐ๊ตฌ์—์„œ๋Š” ์ง€๋„ ๋ฐ์ดํ„ฐ ํ™œ์šฉ์— ๋Œ€ํ•œ ํšจ์œจ์„ฑ์— ์œ ์˜๋ฏธํ•œ ์—ฐ๊ตฌ ๊ฒฐ๊ณผ๊ฐ€ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ํ•˜์ง€๋งŒ LDM layer๋ฅผ ์ค‘์‹ฌ์œผ๋กœ ์—ฐ๊ตฌ๋œ ์‚ฌ๋ก€๋Š” ๋ฏธํกํ•˜์˜€์œผ๋ฉฐ, ๋Œ€๋ถ€๋ถ„ ์ •๋ฐ€๋„๋กœ์ง€๋„ ๋ฐ์ดํ„ฐ ์ค‘์‹ฌ์˜ ํ‘œ์ค€ ์—ฐ๊ตฌ๊ฐ€ ์ง„ํ–‰๋œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ์ตœ๊ทผ Vehice LDM. RSU (road side unit) LDM ๋ฐ์ดํ„ฐ์— ์ฒ˜๋ฆฌ์†๋„์— ๋Œ€ํ•œ ์š”๊ตฌ์‚ฌํ•ญ์„ ์ œ์‹œํ•˜๊ฑฐ๋‚˜(Roh, 2020), ISO 22726-1์ด ์ƒˆ๋กœ ํ‘œ์ค€ํ™”๋˜๊ณ  ์žˆ์œผ๋ฉฐ,โ€˜Beltโ€™์™€ ๊ฐ™์€ ์ƒˆ๋กœ์šด ํ˜•์‹์˜ ์ •๋ฐ€๋„๋กœ์ง€๋„๊ฐ€ ์ ์šฉ๋˜๊ณ  ์žˆ๋Š” ๋งŒํผ ํ‘œ์ค€ ์ •๋ฆฝ์— ๋Œ€ํ•œ ๋‹ค์–‘ํ•œ ์—ฐ๊ตฌ์‚ฌ๋ก€๊ฐ€ ์ง€์†์ ์œผ๋กœ ์ด๋ฃจ์–ด์ ธ์•ผ ํ•  ๊ฒƒ์œผ๋กœ ๋ณด์ธ๋‹ค.

๋‹ค์–‘ํ•œ LDM ๋ฐ์ดํ„ฐ๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ๋‹ค๋ฅธ ๋„๋กœยท๊ตํ†ต์ •๋ณด๋ฅผ ์ƒ์„ฑํ•˜์—ฌ ๋„๋กœ ์šด์˜์— ํ™œ์šฉํ•˜๊ฑฐ๋‚˜(Yang and Jeon, 2018a; Yang and Jeon, 2018b; Yang and Jeon, 2018c), ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฃผํ–‰ ์ค‘ ํ•„์š”ํ•œ ์ •๋ณด(SDA, LCRW ๋“ฑ)๋ฅผ ์ƒ์„ฑํ•˜์—ฌ ์ฃผํ–‰ ์•ˆ์ „์„ฑ์„ ๋†’์ด๋Š” ๊ฒƒ์ด ๊ฐ€๋Šฅํ•œ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. Joung et al.(2021)์—์„œ๋Š” LDM ๋ฐ์ดํ„ฐ ์ „์†ก๊ฑฐ๋ฆฌ ์ฆ๊ฐ€ ๋ฐ ์ „์†ก์ฃผ๊ธฐ ๊ฐ์†Œ์— ๊ด€ํ•œ ์—ฐ๊ตฌ๊ฐ€ ์ง„ํ–‰๋˜๊ธฐ๋„ ํ•˜์˜€๋‹ค. ํ•˜์ง€๋งŒ LDM ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•œ ์ž์œจ์ฃผํ–‰ ์‹คํ—˜์€ ๋งค์šฐ ์ œํ•œ์ ์ธ ๋ฐ์ดํ„ฐ๋งŒ์„ ํ™œ์šฉํ•˜์—ฌ ์ง„ํ–‰๋˜์—ˆ์œผ๋ฉฐ, ์‹คํ—˜๊ฒฐ๊ณผ๋Š” ์ œํ•œ์ ์œผ๋กœ๋งŒ ํ™œ์šฉ๋  ์ˆ˜ ์žˆ์„ ๊ฒƒ์œผ๋กœ ํŒ๋‹จ๋œ๋‹ค.

์ฐจ๋Ÿ‰ ์„ผ์„œ๋งŒ ์˜์กดํ•œ ์ž์œจ์ฃผํ–‰์—๋Š” ํ•œ๊ณ„๊ฐ€ ์กด์žฌํ•˜๋ฉฐ, ์„ผ์„œ๋กœ ์ˆ˜์ง‘ํ•˜์ง€ ๋ชปํ•˜๋Š” ๊ณต๊ฐ„์— ๋Œ€ํ•œ ๊ตํ†ต์ƒํ™ฉ์„ ๋Œ€์ฒ˜ํ•˜๊ธฐ ์œ„ํ•ด ๋” ๋„“์€ ๊ณต๊ฐ„์— ๋Œ€ํ•œ ์ •๋ณด ์ˆ˜์ง‘์ด ํ•„์š”ํ•˜๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ๊ธฐ์กด ์—ฐ๊ตฌ๋“ค์˜ ๊ฒฝ์šฐ, LDM ๋ฐ์ดํ„ฐ ์†์„ฑ ์ •์˜, LDM ๋ฐ์ดํ„ฐ ํ™œ์šฉ์„ฑ ๋ฐ ํšจ์œจ์„ฑ ์ค‘์ ์˜ ์—ฐ๊ตฌ ๋“ฑ ๋ฐ์ดํ„ฐ ์ธก๋ฉด์—์„œ์˜ ์—ฐ๊ตฌ๊ฐ€ ์ฃผ๋ฅ˜๋ฅผ ์ด๋ฃจ์—ˆ์œผ๋ฉฐ, ์ฃผํ–‰ ์ค‘ ํ™œ์šฉํ•ด์•ผ ํ•  LDM ๋ฐ์ดํ„ฐ์˜ ์‹œ๊ณต๊ฐ„์  ์ œ๊ณต๋ฒ”์œ„์— ๋Œ€ํ•œ ๊ณ ๋ ค๋Š” ์ด๋ฃจ์–ด์ง€์ง€ ์•Š์€ ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋”ฐ๋ผ์„œ ์™„์ „ํ•œ ์ž์œจ์ฃผํ–‰์„ ์œ„ํ•ด์„œ๋Š” LDM ๋ฐ์ดํ„ฐ์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™”(ADAS horizon) ์ „๋žต์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•˜๋‹ค.

4. ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ • ํ”„๋ ˆ์ž„์›Œํฌ

4.1 ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ํŠน์„ฑ

์ž์œจ์ฃผํ–‰์„ ์œ„ํ•ด์„œ๋Š” ์ˆ˜๋งŽ์€ ์ž๋™์ฐจ ๋ฐ ๋„๋กœ ์ธํ”„๋ผ ์„ผ์„œ๋กœ๋ถ€ํ„ฐ ์ˆ˜์ง‘๋˜๋Š” ๋น…๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์ง‘, ๋ถ„์„, ํ™œ์šฉํ•˜๋Š” ๊ฒƒ์ด ํ•„์š”ํ•˜๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ๊ตํ†ต์ƒํ™ฉ์ด๋‚˜ ๋„๋กœ์ƒํ™ฉ, ์ฐจ๋Ÿ‰ ์ƒํƒœ๋ฅผ ๊ณ ๋ คํ•˜์ง€ ์•Š์€ ๋ฌด๋ถ„๋ณ„ํ•œ ๋„๋กœยท๊ตํ†ต์ •๋ณด ์ˆ˜์ง‘์€ ๋น„ํšจ์œจ์ ์ด๋ฉฐ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ์˜ ๋ฐ์ดํ„ฐ ์—ฐ์‚ฐ์— ๋ถ€ํ•˜๊ฐ€ ์ฃผ์–ด์งˆ ์ˆ˜ ์žˆ๋‹ค. ๋”ฐ๋ผ์„œ ์šด์ „์ž๊ฐ€ ์ฃผํ–‰ ์ค‘ ๊ตํ†ต์ •๋ณด๋ฅผ ์„ ๋ณ„ํ•˜์—ฌ ํ™œ์šฉํ•˜๋“ฏ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๋„ ์Šค์Šค๋กœ ์ฃผํ–‰์— ํ•„์š”ํ•œ ์ •๋ณด๋ฅผ ์„ ๋ณ„ํ•˜์—ฌ ์ฃผํ–‰ํ•  ํ•„์š”๊ฐ€ ์žˆ๋‹ค. ์ฆ‰, ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ •์„ ์œ„ํ•œ ํ”„๋ ˆ์ž„์›Œํฌ๋„ ๋™์ผํ•œ ๋ฐฉ์‹์œผ๋กœ ์ง„ํ–‰๋  ์ˆ˜ ์žˆ์œผ๋ฉฐ, ์ •๋ณด์˜ ํ™œ์„ฑํ™” ์‚ฐ์ •์„ ์œ„ํ•ด์„œ๋Š” ๋ช‡ ๊ฐ€์ง€ ๊ฐ€์ •์ด ํ•„์š”ํ•˜๋‹ค.

์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๋Š” ๋ชฉ์ ์ง€๊ฐ€ ์ •ํ•ด์ง€๋ฉด ์ถ”์ฒœ ๊ฒฝ๋กœ๋กœ ์ฃผํ–‰ํ•˜๊ฒŒ ๋œ๋‹ค. ์ด๋•Œ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ์˜ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์€ ์ฃผํ–‰ ๊ฒฝ๋กœ ์ƒ ์ „๋ฐฉ๋„๋กœ๊ตฌ๊ฐ„์— ์„ค์ •๋˜๋ฉฐ, ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ๋‚ด ์กด์žฌํ•˜๋Š” ๋งํฌ์— ๋Œ€ํ•œ ์ •๋ณด ์ˆ˜์ง‘์ด ๊ฐ€๋Šฅํ•œ ๊ฒƒ์œผ๋กœ ๊ฐ€์ •ํ•˜์˜€๋‹ค. Fig. 3์€ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ๋‚ด ์กด์žฌํ•˜๋Š” ๋งํฌ ๊ตฌ๊ฐ„์— ๋”ฐ๋ผ ๊ตํ†ต์ •๋ณด ์ˆ˜์ง‘ ๋ฒ”์œ„๋ฅผ ๋‚˜ํƒ€๋‚ธ ๊ทธ๋ฆผ์ด๋‹ค.

Fig. 3. Relationship Between the ADAS Horizon and Information Collection Section
../../Resources/KSCE/Ksce.2022.42.4.0519/fig3.png

๋‹ค์Œ์œผ๋กœ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ๊ฒฝ๋กœ ์ƒ ๋งํฌ๋ฅผ ํ†ต๊ณผํ•  ๋•Œ๋งˆ๋‹ค ์ƒˆ๋กœ์šด ์ถ”์ฒœ ๊ฒฝ๋กœ๋ฅผ ํƒ์ƒ‰ํ•˜๋Š” ๊ฒƒ์„ ๊ฐ€์ •ํ•˜์˜€๋‹ค. Fig. 3๋Š” ์ „๋ฐฉ์— ๋Œ๋ฐœ ์ƒํ™ฉ ์œ„์น˜ ๋ฐ ์ฐจ๋Ÿ‰ ์œ„์น˜์— ๋”ฐ๋ผ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ์˜ ์ฃผํ–‰ ๊ฒฝ๋กœ ์„ ํƒ ์ƒํ™ฉ์„ ๋ณด์—ฌ์ค€๋‹ค. Case1์˜ ๊ฒฝ์šฐ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ „๋ฐฉ ๋Œ๋ฐœ ์ƒํ™ฉ์— ๋Œ€ํ•œ ๋Œ€์ฒ˜๊ฐ€ ๋ถˆ๊ฐ€๋Šฅํ•œ ์ƒํ™ฉ์ด๋‹ค. Case2์˜ ๊ฒฝ์šฐ ๋‹คํ–‰ํžˆ๋„ ๋ชฉ์ ์ง€๊นŒ์ง€์˜ ์›ํ™œํ•œ ์ฃผํ–‰์ด ๊ฐ€๋Šฅํ•œ ์ƒํ™ฉ์ด์ง€๋งŒ ๋„๋กœ์ƒํ™ฉ์— ๋”ฐ๋ผ Case3์ฒ˜๋Ÿผ ์ฃผํ–‰ ๊ฒฝ๋กœ ์ƒ์—์„œ ํฌ๊ฒŒ ๋ฒ—์–ด๋‚˜์•ผ ํ•  ๊ฒฝ์šฐ๊ฐ€ ๋ฐœ์ƒํ•˜๊ธฐ๋„ ํ•œ๋‹ค. ๋ฐ˜๋ฉด, Fig. 4์—์„œ์™€ ๊ฐ™์ด ์ „๋ฐฉ ๋Œ๋ฐœ ์ƒํ™ฉ ์ •๋ณด๋ฅผ ๋ฏธ๋ฆฌ ์ˆ˜์ง‘ํ•  ์ˆ˜ ์žˆ๋‹ค๋ฉฐ, Fig. 4์˜ Case3๊ณผ ๊ฐ™์€ ์ƒํ™ฉ์—์„œ๋„ ๋‹ค๋ฅธ ๊ฒฝ๋กœ ์„ ํƒ์„ ํ†ตํ•ด ์•ˆ์ •์ ์ธ ์ฃผํ–‰์„ ํ•  ์ˆ˜ ์žˆ๋‹ค.

๋งˆ์ง€๋ง‰์œผ๋กœ ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์—์„œ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฒ˜๋ฆฌํ•ด์•ผ ํ•  ๋„๋กœยท๊ตํ†ต ์ •๋ณด๋Š” ๋ฐฉ๋Œ€ํ•˜๋ฉฐ, ์ฃผํ–‰์— ํ•„์š”ํ•œ ๋ฐ์ดํ„ฐ๋ฅผ ๊ตฌ๋ณ„ํ•˜์—ฌ ์ˆ˜์ง‘ยทํ™œ์šฉํ•˜๋ฉฐ, ์ƒํ™ฉ๋ณ„๋กœ ์œ ์—ฐํ•˜๊ฒŒ ์ ์šฉ๊ฐ€๋Šฅ ํ•ด์•ผ ํ•œ๋‹ค. ์˜ˆ๋ฅผ ๋“ค์–ด, ์‹œ๋‚ด๋ถ€ ๋„๋กœ์˜ ๊ฒฝ์šฐ, ์ฃผํ–‰ํ•˜๋Š” ๊ฒฝ๋กœ ์ฃผ๋ณ€์— ๋„๋กœ ๋ฐ ๊ต์ฐจ๋กœ๊ฐ€ ๋ฐ€์ง‘๋˜์–ด ์žˆ๊ธฐ ๋•Œ๋ฌธ์—, ๋„๋กœยท๊ตํ†ต ์ •๋ณด์˜ ์–‘์€ ์ฆ๊ฐ€ํ•˜๊ฒŒ ๋œ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์ฐจ๋Ÿ‰์˜ ์†๋„๋Š” ๊ณ ์†๋„๋กœ ๋Œ€๋น„ ์ƒ๋Œ€์ ์œผ๋กœ ๋‚ฎ๊ธฐ ๋•Œ๋ฌธ์— ๊ด‘๋ฒ”์œ„ํ•œ ๊ณต๊ฐ„์— ๋Œ€ํ•œ ์ •๋ณด๋ฅผ ์ˆ˜์ง‘ํ•  ํ•„์š”๋Š” ์—†๋‹ค. ๋ฐ˜๋ฉด, ๊ณ ์†๋„๋กœ์˜ ๊ฒฝ์šฐ, ์™„์ „ ๋ถ„๋ฆฌ๋œ ์‹œ์„ค์ด๊ธฐ ๋•Œ๋ฌธ์— ๋ถ„๊ธฐ์ (junction: JC)๊ณผ ๋‚˜๋“ค๋ชฉ(interchange: IC)์„ ์ œ์™ธํ•œ ์ธ๊ทผ ๋„๋กœ์™€ ๊ต์ฐจ๋กœ์— ๋Œ€ํ•œ ์ •๋ณด๋ฅผ ์ˆ˜์ง‘ํ•  ํ•„์š”๋Š” ์—†๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์ฐจ๋Ÿ‰์˜ ์†๋„๋Š” ์ƒ๋Œ€์ ์œผ๋กœ ๋†’๊ธฐ ๋•Œ๋ฌธ์— ์ƒ๋Œ€์ ์œผ๋กœ ๊ธด ์ฃผํ–‰ ๊ฒฝ๋กœ์— ๋Œ€ํ•œ ์ •๋ณด๊ฐ€ ๋ฏธ๋ฆฌ ์ˆ˜์ง‘๋˜์–ด์•ผ ํ•œ๋‹ค. ์ด์™€ ๊ฐ™์€ ๊ฐœ๋…์„ ์ ์šฉํ•˜์—ฌ, ๋„๋กœ ์ƒํ™ฉ๋ณ„ ๋„๋กœยท๊ตํ†ต ์ •๋ณด ์ˆ˜์ง‘ ๊ตฌ๊ฐ„์ด ์œ ์—ฐํ•˜๊ฒŒ ๋ณ€ํ™”๋  ์ˆ˜ ์žˆ๋Š” ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ • ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์•ˆํ•˜๊ณ ์ž ํ•œ๋‹ค.

Fig. 4. Selection of a Driving Path for Each Case
../../Resources/KSCE/Ksce.2022.42.4.0519/fig4.png

4.2 ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ์‚ฐ์ • ํ”„๋ ˆ์ž„์›Œํฌ ์„ค๊ณ„ ๋ฐฉํ–ฅ

์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๋Š” ์ „๋ฐฉ ๋Œ๋ฐœ ์ƒํ™ฉ์— ๋Œ€ํ•œ ๋Œ€์ฒ˜๊ฐ€ ๊ฐ€๋Šฅํ•ด์•ผ ํ•˜๋ฉฐ, ์ฃผํ–‰ ๊ฒฝ๋กœ ๋ณ€๊ฒฝ ์‹œ ์ถ”์ฒœ ๊ฒฝ๋กœ์—์„œ ํฌ๊ฒŒ ๋ฒ—์–ด๋‚˜์ง€ ์•Š๊ธฐ ์œ„ํ•ด ํ˜„์žฌ ์œ„์น˜ํ•œ ๋งํฌ์™€ ์—ฐ๊ฒฐ๋œ ๋‘ ๊ฐœ ๋งํฌ ๊ตฌ๊ฐ„์— ๋Œ€ํ•œ ๋„๋กœ ๊ตํ†ต ์ •๋ณด๊ฐ€ ์ˆ˜์ง‘๋˜์–ด์•ผ ํ•œ๋‹ค. ์ฆ‰, ํ˜„์žฌ ์ฃผํ–‰ ์ค‘์ธ ๋งํฌ๋ฅผ ์ œ์™ธํ•œ ์ „๋ฐฉ ๋‘ ๊ฐœ ๋งํฌ ๋ฐ ์ด๋ฅผ ์—ฐ๊ฒฐํ•˜๋Š” ๋‘ ๊ฐœ ๋…ธ๋“œ์— ๋Œ€ํ•œ ๋„๋กœยท๊ตํ†ต ์ •๋ณด๊ฐ€ ์ˆ˜์ง‘๋˜์–ด์•ผ ํ•˜๋ฉฐ, ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„ ๋‚ด ๋…ธ๋“œยท๋งํฌ ์ˆ˜๊ฐ€ ์ถฉ๋ถ„ํ•˜์ง€ ์•Š์„ ๊ฒฝ์šฐ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์„ ์ ์ง„์ ์œผ๋กœ ๋Š˜๋ ค๋‚˜๊ฐ€๋Š” ๋ฉ”์ปค๋‹ˆ์ฆ˜์ด ํฌํ•จ๋˜์–ด์•ผ ํ•œ๋‹ค.

ํ•œํŽธ, ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์ด ๋Š˜์–ด๋‚จ์— ๋”ฐ๋ผ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฒ˜๋ฆฌํ•ด์•ผํ•  ๋ฐ์ดํ„ฐ ํฌ๊ธฐ๋„ ๋Š˜์–ด๋‚˜๊ฒŒ ๋œ๋‹ค. ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์‹ค์‹œ๊ฐ„์œผ๋กœ ์ˆ˜์ง‘๋˜๋Š” ๋ฐ์ดํ„ฐ ํฌ๊ธฐ๋ฅผ ํŒ๋‹จํ•˜์—ฌ ํ™œ์šฉํ•ด์•ผํ•  ๋ฐ์ดํ„ฐ ํฌ๊ธฐ๋ฅผ ์กฐ์ ˆํ•  ์ผ๋ จ์˜ ๊ณผ์ •์ด ํ•„์š”ํ•˜๋‹ค. ์ฃผํ–‰ ์ค‘ ํ•„์š”ํ•œ ๋ฐ์ดํ„ฐ์˜ ํฌ๊ธฐ๋ฅผ ์ค„์ด๊ฑฐ๋‚˜ ์šฐ์„ ์ˆœ์œ„๊ฐ€ ๋–จ์–ด์ง€๋Š” ๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์ง‘ยทํ™œ์šฉํ•˜์ง€ ์•Š๋Š” ๋ฐฉ๋ฒ• ๋“ฑ์„ ํ†ตํ•ด ๋ฐ์ดํ„ฐ์˜ ์ง€์—ฐ์„ฑ์„ ์ค„์ด๊ณ  ์ฃผํ–‰ ์•ˆ์ •์„ฑ์„ ๋†’์ผ ํ•„์š”๊ฐ€ ์žˆ๋‹ค.

๋งˆ์ง€๋ง‰์œผ๋กœ ํ•ด๋‹น ์‹œ๋‚ด๋ถ€๋„๋กœ ํ˜น์€ ๊ณ ์†๊ตญ๋„์™€ ๊ฐ™์€ ์„œ๋กœ ๋‹ค๋ฅธ ๋„๋กœยท๊ตํ†ต ์ƒํ™ฉ์— ๋”ฐ๋ผ ์œ ์—ฐํ•œ ์ ์šฉ์ด ๊ฐ€๋Šฅํ•˜์—ฌ์•ผ ํ•˜๋ฉฐ, ์ด๋Š” ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„๊ณผ ์ •๋ณด ์ˆ˜์ง‘์ด ๊ฐ€๋Šฅํ•œ ๋งํฌ๋“ค์˜ ๊ธธ์ด ํ•ฉ ์ •๋ณด๋ฅผ ํ†ตํ•ด ๊ตฌ๋ถ„ํ•  ์ˆ˜ ์žˆ์„ ๊ฒƒ์œผ๋กœ ํŒ๋‹จ๋œ๋‹ค. Fig. 5์€ ์ด๋Ÿฌํ•œ ๊ฐœ๋…์„ ์ ์šฉํ•˜์—ฌ ์„ค๊ณ„ํ•ด๋ณธ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ์‚ฐ์ • ํ”„๋ ˆ์ž„์›Œํฌ์ด๋ฉฐ, ์ด๋Ÿฌํ•œ ๊ฐœ๋…์„ ํ™œ์šฉํ•œ๋‹ค๋ฉด, ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ๋ชฉํ‘œ ๊ฒฝ๋กœ์ƒ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์„ ์ตœ์ ์œผ๋กœ ์„ค์ •ํ•˜๊ณ  ์„ค์ •๋œ ๋ฒ”์œ„ ๋‚ด์˜ ๋„๋กœยท๊ตํ†ต ์ •๋ณด๋งŒ์„ ์ˆ˜์ง‘ํ•จ์œผ๋กœ ๋ฐ์ดํ„ฐ ์†กยท์ˆ˜์‹  ๋ฐ ์ฒ˜๋ฆฌ ์†๋„ ํ–ฅ์ƒ์„ ๊ธฐ๋Œ€ํ•  ์ˆ˜ ์žˆ๋‹ค. Fig. 5์— ์ œ์‹œ๋œ ๊ฐ ๋‹จ๊ณ„์— ๋Œ€ํ•œ ์„ค๋ช…์€ ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค.

โ‘  ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฃผํ–‰์„ ์‹œ์ž‘ํ•˜๋ฉด ๋ชฉ์ ์ง€์— ๋Œ€ํ•œ ๊ฒฝ๋กœ ์„ ํƒ

โ‘ก ์ดˆ๊ธฐ ๋„๋กœยท๊ตํ†ต์ •๋ณด ํ™œ์„ฑํ™” ๋ฒ”์œ„ ์„ค์ •

โ‘ข ์„ ํƒ๋œ ๊ฒฝ๋กœ ์œ„, ํ™œ์„ฑํ™” ๋ฒ”์œ„ ๋‚ด ๋„๋กœ ๋ฐ์ดํ„ฐ ์ •๋ณด ํ™œ์„ฑํ™”

โ‘ฃ ํ™œ์„ฑํ™”๋œ ๋„๋กœ ๋ฐ์ดํ„ฐ ์ •๋ณด๋ฅผ ์ฒ˜๋ฆฌํ•˜๋Š”๋ฐ ์†Œ์š”๋˜๋Š” ์‹œ๊ฐ„ ํŒŒ์•… ๋ฐ ์‹œ๊ฐ„ ๋ณ„ ํ™œ์„ฑํ™” ๋ฐ์ดํ„ฐ ํฌ๊ธฐ ์กฐ์ ˆ

โ‘ค ํ™œ์„ฑํ™” ๋ฒ”์œ„ ๋‚ด ํฌํ•จ๋˜๋Š” ๋…ธ๋“œ์™€ ๋งํฌ ์ˆ˜๋ฅผ ํŒŒ์•…ํ•˜๊ณ  ๊ทธ ์ˆ˜์— ๋”ฐ๋ผ ํ™œ์„ฑํ™” ๋ฒ”์œ„ ์กฐ์ ˆ

โ‘ฅ ํ™œ์„ฑํ™” ๋ฒ”์œ„ ๋‚ด ๋…ธ๋“œ ๋ฐ ๋งํฌ์˜ ์ˆ˜์™€ ๋ฐ์ดํ„ฐ ํฌ๊ธฐ๊ฐ€ ์ ์ ˆํ•  ๊ฒฝ์šฐ, ํ•ด๋‹น ํ™œ์„ฑํ™” ๊ธฐ์ค€์„ ๊ฐ€์ง€๊ณ  ์ฃผํ–‰ํ•˜๋ฉฐ, ๋…ธ๋“œ๋ฅผ ์ง€๋‚  ๋•Œ๋งˆ๋‹ค ํ”„๋กœ์„ธ์Šค ๋ฐ˜๋ณต

Fig. 5. Framework for Calculating Road and Traffic Information Activation Section
../../Resources/KSCE/Ksce.2022.42.4.0519/fig5.png

5. ๊ฒฐ ๋ก 

๋ณธ ์—ฐ๊ตฌ๋Š” ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ํ™œ์šฉํ•ด์•ผ ํ•  LDM ๋ฐ์ดํ„ฐ์™€ ๊ด€๋ จ ํ‘œ์ค€, LDM ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•œ ์—ฐ๊ตฌ์‚ฌ๋ก€๋ฅผ ๊ฒ€ํ† ํ•˜์—ฌ, ๊ธฐ์กด ์—ฐ๊ตฌ์˜ ํ•œ๊ณ„๋ฅผ ์ง„๋‹จํ•˜์˜€๋‹ค. ๋˜ํ•œ, LDM ๋ฐ์ดํ„ฐ๋ฅผ ํ™œ์šฉํ•˜๋Š” ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์—์„œ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฒ˜๋ฆฌํ•ด์•ผ ํ•  ๋ฐ์ดํ„ฐ ์–‘์„ ํšจ์œจ์ ์œผ๋กœ ๊ณ ๋ คํ•˜๊ธฐ ์œ„ํ•˜์—ฌ LDM ์ •๋ณด์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์— ๋Œ€ํ•œ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์‹œํ•˜์˜€๋‹ค. ์ œ์‹œ๋œ ํ”„๋ ˆ์ž„์›Œํฌ๋Š” ๋„๋กœ์˜ ์œ ํ˜•๋ณ„ ํ˜น์€ ์ฐจ๋Ÿ‰์˜ ์šดํ–‰ ์†๋„์— ๋”ฐ๋ฅธ LDM์˜ ์‹œ๊ณต๊ฐ„์  ํ™œ์„ฑํ™” ๊ตฌ๊ฐ„์„ ์ฐจ๋ณ„ํ™”ํ•˜์—ฌ ํšจ์œจ์ ์ธ ์ •๋ณด์˜ ์šด์˜ ์ „๋žต์œผ๋กœ ๊ตฌ์„ฑ๋œ ๊ฒƒ์ด๋‹ค.

LDM ๋ฐ์ดํ„ฐ๊ฐ€ ํ™œ์šฉ๋˜๋Š” ์ž์œจ์ฃผํ–‰ ํ™˜๊ฒฝ์—์„œ๋Š” ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๊ฐ€ ์ฒ˜๋ฆฌํ•ด์•ผ ํ•  ๋ฐ์ดํ„ฐ ๋Ÿ‰์€ ๋งค์šฐ ํฌ๊ธฐ ๋•Œ๋ฌธ์— ํšจ์œจ์ ์ธ ๋ฐ์ดํ„ฐ ์ฒ˜๋ฆฌ๋Š” ํ•„์ˆ˜๋ถˆ๊ฐ€๊ฒฐํ•˜๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ ์ œ์‹œ๋œ ํ”„๋ ˆ์ž„์›Œํฌ๋Š” ์ด๋Ÿฌํ•œ ํšจ์œจ์„ฑ์— ๊ธฐ๋ฐ˜์„ ๋‘๊ณ  ์žˆ์ง€๋งŒ, ์‹ค์ œ ์‹คํ—˜์ด๋‚˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•œ ๊ฒ€์ฆ์ด ์ด๋ฃจ์–ด์ง€์ง€ ์•Š์•˜๋‹ค๋Š” ํ•œ๊ณ„๊ฐ€ ์กด์žฌํ•œ๋‹ค. ๋”ฐ๋ผ์„œ V2X๊ฐ€ ๊ฐ€๋Šฅํ•œ ๋„๋กœ ์ธํ”„๋ผ์™€ ์ž์œจ์ฃผํ–‰ ์ž๋™์ฐจ๋ฅผ ํ™œ์šฉํ•œ ํ˜„์žฅ์‹คํ—˜, ํ˜น์€ ๊ตํ†ต์‹œ๋ฎฌ๋ ˆ์ดํ„ฐ์™€ ํ†ต์‹ ์‹œ๋ฎฌ๋ ˆ์ดํ„ฐ๋ฅผ ๊ฒฐํ•ฉํ•œ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ํ™˜๊ฒฝ์—์„œ์˜ ์‹คํ—˜์„ ํ†ตํ•ด ์ œ์‹œ๋œ ํ”„๋ ˆ์ž„์›Œํฌ์˜ ๊ฒ€์ฆ์ด ํ•„์š”ํ•˜๋‹ค.

๊ฐ์‚ฌ์˜ ๊ธ€

๋ณธ ์—ฐ๊ตฌ๋Š” ๊ตญํ† ๊ตํ†ต๊ณผํ•™๊ธฐ์ˆ ์ง„ํฅ์›์˜ ํฌ๋ผ์šฐ๋“œ ์†Œ์‹ฑ ๊ธฐ๋ฐ˜์˜ ๋””์ง€ํ„ธ ๋„๋กœยท๊ตํ†ต ์ธํ”„๋ผ ์œตํ•ฉ ํ”Œ๋žซํผ ๊ธฐ์ˆ  ๊ฐœ๋ฐœ ๊ณผ์ œ(21AMDP- C161924-01)์˜ ์ง€์›์„ ๋ฐ›์•„ ์ˆ˜ํ–‰๋˜์—ˆ์Œ.

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