Journal Search Engine
The Journal of The Korea Institute of Intelligent Transport Systems Vol.24 No.5 pp.213-230
자율주행자동차 실증 평가를 위한 VILs 기반 통합 시뮬레이션 환경 구축 연구
Development of a VILs-based Integrated Simulation Environment for Autonomous Vehicle Testing
Abstract
This paper proposes a VILs testing approach that integrates a real autonomous vehicle with a virtual traffic environment in real time via co-simulation using CarMaker and VISSIM. This approach aims to overcome the practical constraints of field validation and reflect irregular traffic flows. Validation was conducted through repeated experiments combining various traffic volumes and random seeds under interrupted-flow and continuous-flow scenarios. The AV driving outcomes in each scenario were evaluated by comparing the real and virtual vehicle speed profiles using, and the coefficient of determination R². The results revealed low errors and high explanatory power under most conditions, confirming the effectiveness of the proposed framework. These findings suggest that this approach can meaningfully extend conventional VILs by better capturing the interactions with non-deterministic surrounding traffic during empirical AV testing. This framework is expected to provide a foundation for future research as a novel approach for practical validation of autonomous vehicles.
