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강원율(Wonyul Kang),조재훈(Jaehun Jo),이민기(Minki Lee),강대오(Daeoh Kang),현민수(Minsu Hyun),허승진(Seungjin Heo) 한국자동차공학회 2021 한국 자동차공학회논문집 Vol.29 No.6
Autonomous Driving(AD) evaluation based on real vehicle tests takes many hours and has many restrictions. This paper presents a methodology for the development of a virtual driving environment that can replace the real vehicle test. When developing a virtual driving environment, it is important to develop the same virtual element model(Road, Vehicle model, etc.) as that in the real world. Thus, the high-occupancy BRT(Bus Rapid Transit) bus route in Cheongna zone was modelled using the Mobile Mapping System(MMS) as the openDRIVE format, which is the ASAM(Association for Standardization of Automation and Measuring Systems) road standard. In addition, we developed a vehicle model that simulates the dynamic performance of BRT based on Modelica language. Finally, we developed an interface module that integrates the virtual environment, the vehicle model, and the driver model. In conclusion, this paper presents a virtual test drive platform for AD evaluation.