@article{oai:ipsj.ixsq.nii.ac.jp:00210669,
 author = {菊池, 典恭 and 矢野, 貴大 and 中林, 昭一 and 金子, 富 and 浜口, 雅春 and Noriyasu, Kikuchi and Takahiro, Yano and Shoichi, Nakabayashi and Yutaka, Kaneko and Masaharu, Hamaguchi},
 issue = {4},
 journal = {情報処理学会論文誌},
 month = {Apr},
 note = {自動運転の研究開発が進展しているが，快適で円滑な走行の実現には十分とはいえない場合がある．その1つとして，高速道路の合流シーンがあり，合流線と本線が建造物に遮られた場合では，合流車両は本線車両の位置や速度等を合流の直前にならなければ把握できず，合流のタイミング調整が困難な状況が発生する．当該課題を解決するためには，自動運転車両に備えられた車載センサのみでは得られない本線車両の情報を提供する新たな支援システムが必要である．本論文では自動運転車両の円滑な走行を支援するために路車間通信を用いた合流支援システムを検討し，導入による車両挙動安定性への効果を評価する．, Although research and development of self-driving vehicle is progressing, there are still insufficient situations to achieve comfortable and smooth driving. One example is a merging situation of an expressway. In the case the merging lane and the main lane are interrupted by the building, the merging vehicle cannot recognize the position and speed of the main lane vehicle until immediately before the merging, and it may be difficult to adjust the merging timing. To solve this problem, a new support system that provides information on main lane vehicles that cannot be obtained only with the sensors provided in self-driving vehicle is required. In this paper, we investigate the merging support system using vehicle to infrastructure communications to support the smooth driving of self-driving vehicles and evaluate the stability of vehicle behavior by introducing this system.},
 pages = {1128--1141},
 title = {自動運転のための合流支援システムによる車両挙動安定性の評価},
 volume = {62},
 year = {2021}
}