VEHICLE TRAJECTORY GENERATION METHOD FOR SIMULATION

摘要

Disclosed is a method capable of variously generating virtual driving trajectories of surrounding vehicles at high speed in a simulation environment. The disclosed method for generating a driving trajectory of a surrounding vehicle for a simulation includes: calculating a vehicle speed of the surrounding vehicle by using the reference speed and a longitudinal parameter indicating a following pattern of the surrounding vehicle with respect to a reference speed; calculating a yaw angle of the surrounding vehicle using a lateral parameter indicating a time required to change a lane, a lane width, and the vehicle speed; and generating a driving trajectory of the surrounding vehicle according to the vehicle speed and the yaw angle.