{"created":"2025-01-19T01:17:20.731384+00:00","updated":"2025-01-19T15:43:08.738258+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00216831","sets":["1164:3980:10839:10840"]},"path":["10840"],"owner":"44499","recid":"216831","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"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-01"},"_buckets":{"deposit":"b38a6508-de6a-4c49-a29a-2903fbd201aa"},"_deposit":{"id":"216831","pid":{"type":"depid","value":"216831","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_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","author_link":["560544","560542","560549","560545","560548","560547","560546","560543","560550","560541"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_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"},{"subitem_title":"Risk Map Enabling Trajectory Generation Considering Moving Obstacles","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2022-03-01","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"(株)日立製作所研究開発グループ"},{"subitem_text_value":"(株)日立製作所研究開発グループ"},{"subitem_text_value":"(株)日立製作所研究開発グループ"},{"subitem_text_value":"(株)日立製作所研究開発グループ"},{"subitem_text_value":"日立Astemo株式会社技術開発統括本部"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Hitachi Ltd. Research & Development Group","subitem_text_language":"en"},{"subitem_text_value":"Hitachi Ltd. Research & Development Group","subitem_text_language":"en"},{"subitem_text_value":"Hitachi Ltd. Research & Development Group","subitem_text_language":"en"},{"subitem_text_value":"Hitachi Ltd. Research & Development Group","subitem_text_language":"en"},{"subitem_text_value":"Hitachi Astemo, Ltd. Technology Development Functional Div.","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/216831/files/IPSJ-ITS22088009.pdf","label":"IPSJ-ITS22088009.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-01"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ITS22088009.pdf","filesize":[{"value":"1.0 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"37"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"db727ca9-0758-4844-a16c-dd68a9501d04","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"堀田, 勇樹"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Gabriel, Daniel"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"稲葉, 龍"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"児島, 隆生"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"早瀬, 茂規"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Yuki, Horita","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Daniel, Gabriel","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ryoh, Inaba","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takao, Kojima","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shigenori, Hayase","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11515904","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8965","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"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．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告高度交通システムとスマートコミュニティ（ITS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"9","bibliographicVolumeNumber":"2022-ITS-88"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":216831,"links":{}}