Abstract: Disclosed herein are a cooperative driving method based on driving negotiation and an apparatus for the same. The cooperative driving method is performed by a cooperative driving apparatus for cooperative driving based on driving negotiation, and includes determining whether cooperative driving is possible in consideration of a driving mission of a requesting vehicle that requests cooperative driving with neighboring vehicles, when it is determined that cooperative driving is possible, setting a responding vehicle from which cooperative driving is to be requested among the neighboring vehicles, performing driving negotiation between the requesting vehicle and the responding vehicle based on a driving negotiation protocol, and when the driving negotiation is completed, performing cooperative driving by providing driving guidance information for vehicle control to at least one of the requesting vehicle and the responding vehicle.

Abstract: Provided is a phantom for evaluating the accuracy of image registration software based on a result of matching tomograms of a predetermined position of the phantom, taken using two or more imaging apparatuses. Accordingly, it is possible to more efficiently evaluate the accuracy of the image registration software by comparing the tomograms with one another using a three-dimensional analysis. In addition, it is possible to facilitate the comparison of the tomograms with one another by installing a plurality of indicating bars in the phantom so that their cross sections can appear on each of the tomograms.