@techreport{oai:ipsj.ixsq.nii.ac.jp:00216831,
 author = {堀田, 勇樹 and Gabriel, Daniel and 稲葉, 龍 and 児島, 隆生 and 早瀬, 茂規 and Yuki, Horita and Daniel, Gabriel and Ryoh, Inaba and Takao, Kojima and Shigenori, Hayase},
 issue = {9},
 month = {Mar},
 note = {市街地での自動運転では，複雑で多様な道路環境に柔軟に対応可能な軌道計画アルゴリズムが不可欠であり，自車周辺における走行時のコスト値をマップ化したリスクマップを活用した手法が数多く提案されている．しかし，従来のリスクマップでは，障害物の移動による影響を正しくリスク評価できておらず，結果として不適切な軌道を生成し得るという課題がある．そこで本稿では，移動障害物との時間的な交錯関係を考慮した新しいリスク評価方式「時空間分布リスク評価方式」を適用したリスクマップを提案する．移動障害物の影響の考慮が必要な障害物追越のユースケースに対してシミュレーション評価を行い，移動体のリスクを適切に表現可能であることを確認するとともに，従来方式では困難だった軌道を生成可能である見込みを示した．, Automated driving in urban roads requires a trajectory planning algorithm adaptive to diverse and atypical road environments. Many of proposed algorithms are realized based on risk map around the ego vehicle, in which each place is associated with a cost value in case of driving at the place. However, conventional risk map does not properly evaluate the risk caused by movement of obstacles, resulting in the possibility of inappropriate trajectory generation. In this study, we propose a risk map based on a novel risk evaluation method, spatio-temporal distribution risk evaluation method, considering time-based overlap between moving obstacles and the ego vehicle. In simulation-based evaluation for overtaking use cases in which a moving obstacle affects trajectory generation, we showed that the proposed method properly represented the risks of the moving objects and would be capable of generating trajectories that conventional methods had difficulty in.},
 title = {移動障害物を考慮した軌道生成を可能とするリスクマップ},
 year = {2022}
}