㸴㸬ࢻࣛ࢖ࣂࡢಶᛶ࡟╔┠ࡋࡓ♫఍ඹ⏕ᆺᏳ඲㐠㌿ᨭ᥼࡟㛵ࡍࡿ◊✲ᶵᲔᕤᏛ⣔ ᩍᤵ ❶ ᛅ㸪෸ᩍᤵ ୕Ꮿ ဴኵ㸪ᐈဨ෸ᩍᤵ ௒ᮧ Ꮥ኱㒔ᕷ࡜␗࡞ࡾᆅ᪉㒔ᕷ࡟࡜ࡗ࡚㸪⮬ື㌴ࡣ㔜せ࡞⛣ືᡭẁ࡛࠶ࡿࠋࡲࡓ㸪㧗㱋⪅ࢻࣛ࢖ࣂࡢ
ᛴቑ㸪Ᏻ඲ᛶࡸ⎔ቃᛶ࡞࡝㐠㌿࡟ồࡵࡽࢀࡿせ⣲ࡢከᵝ໬࡟క࠸㸪⮬ື㌴ഃࡢ㐠㌿ᨭ᥼⬟ຊࡶ㧗ᗘ໬࣭ከᵝ໬ࡋࡘࡘ࠶ࡿࠋࡑࡢࡓࡵ⮬ື㌴ࡢᣢࡘࡉࡲࡊࡲ࡞ࣜࢫࢡ࡜♫఍⏕ά࡜ࡢ୧❧࣭ඹ⏕ࡀ୙ྍḞ࡛࠶ࡿࠋ
ᮏ◊✲࡛ࡣࢻࣛ࢖ࣂࡢಶᛶࢆ᝟ሗ࣭ᩘ್໬ࡍࡿᢏ⾡ࢆ㏻ࡌ㸪♫఍ࡸṌ⾜⪅࡟ᑐࡋ࡚Ᏻ඲࡞㐠㌿ࡢᐇ⌧㸪ከᵝ໬ࡍࡿࢻࣛ࢖ࣂࡢ㐠㌿⬟ຊࡢᖹ‽໬ࢆ┠ᣦࡋࡓ᪂ࡓ࡞㐠㌿ᨭ᥼ࡢ࠶ࡾ᪉࡟ࡘ࠸࡚◊✲ࢆ⾜࠺ࠋᮏሗ࿌࡛ࡣ㸪ࡑࡢᇶ♏ᢏ⾡࡜ࡋ࡚㸪୺࡟ࢻࣛ࢖ࣂ⾜ືィ 㸪ࢻࣛ࢖ࣂࡢ㞟୰ᗘホ౯࡟㛵ࡍࡿ◊✲ᡂᯝࢆሗ࿌ࡍࡿࠋࢻࣛ࢖ࣂ⾜ືィ ࡜ࡋ࡚ࡣ㸪㸴㸫㸯 ࢻࣛ࢖ࣂࡢ㐠㌿ືసゎᯒ⏝ࢻࣛ࢖ࣈࣞ
ࢥ࣮ࢲࡢ㛤Ⓨ㸪࠾ࡼࡧ㸪㸴㸫㸰 ࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱࢆ⏝࠸ࡓ㐠㌿⾜ືពᅗࡢ௜୚࡜ࡑࡢ
᥎ᐃ࡟㛵ࡍࡿ◊✲ࢆ⾜ࡗࡓࠋࡲࡓ㸪ࢻࣛ࢖ࣂࡢ㞟୰ᗘホ౯࡜ࡋ࡚ࡣ㸪㸴㸫㸱 ࣇ࢓ࢪ࢕᥎ㄽ࡟ࡼ
ࡿࢻࣛ࢖ࣂࡢ㞟୰≧ែࡢホ౯࡟ࡘ࠸࡚◊✲ࢆ⾜ࡗࡓࠋ㸴㸫㸯 ࢻࣛ࢖ࣂࡢ㐠㌿ືసゎᯒ⏝ࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡢ㛤Ⓨ㸦㸯㸧ࡣࡌࡵ࡟
㏆ᖺ㸪Ᏻ౯࡞㟁Ꮚࣃ࣮ࢶࡢᬑཬ࡟క࠸㸪ከࡃࡢࢻࣛ࢖ࣈࣞࢥ࣮ࢲ㸦DR㸧ࡀ㛤Ⓨ࣭ᕷ㈍ࡉࢀࡿ
ࡼ࠺࡟࡞ࡗ࡚ࡁࡓࠋࡇࢀࡽࡢࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡣ㸪኱ࡁࡃ㸰ࡘ࡟ศ㢮ࡍࡿࡇ࡜ࡀฟ᮶ࡿࠋࡦ࡜ࡘ
ࡣ㸪஦ᨾࡸࣄࣖࣜࣁࢵࢺࡀⓎ⏕ࡋࡓ᫬ࡢࢻࣛ࢖ࣂᣲື࡛࠶ࡿᛴࣈ࣮ࣞ࢟ࡸᛴ᪕ᅇࢆࢺࣜ࢞࡜ࡋ࡚㸪ࡑࡢ๓ᚋࡢᫎീࢆ㌴୧๓᪉࡟ྥࡅࡓ࣓࢝ࣛ࡟ࡼࡗ࡚グ㘓ࡍࡿ㸪࢖࣋ࣥࢺグ㘓ᆺ DR ࡛࠶ࡿࠋࡶ࠺
ࡦ࡜ࡘࡣ㸪㐠㌿୰ࡢ඲࡚ࡢ᝟ሗࢆグ㘓ࡍࡿᖖ᫬グ㘓ᆺ DR ࡛࠶ࡿ(6-1)ࠋࡇࢀࡽࡢ DR ࡣ㸪ᫎീグ㘓࡜ྠ᫬࡟㸪GPS㸦Global Positioning System㸧ࡸຍ㏿ᗘࡢ࡯࠿㸪㏿ᗘ㸪ࣈ࣮ࣞ࢟᧯స࡜࠸ࡗࡓ
CAN㸦Car Area Network㸧᝟ሗࢆグ㘓ࡍࡿ(6-2)ࠋ≉࡟๓⪅ࡢ࢖࣋ࣥࢺグ㘓ᆺ DR ࡣ㸪஦ᨾⓎ⏕ࡢグ㘓ᫎീ࡜ࡋ࡚ࡢ฼⏝ࡢ௚㸪஺㏻Ᏻ඲ᩍ⫱㸪஦ᨾࡸࣄࣖࣜࣁࢵࢺࡢࣁࢨ࣮ࢻ࣐ࢵࣉసᡂࡢࡓࡵ࡟㸪ከࡃࡢබඹ஺㏻஦ᴗ⪅࡟ᑟධࡉࢀ࡚࠸ࡿ(6-3)ࠋ
୍᪉㸪ᮏ◊✲ᐊ࡛ࡣ㸪ࢻࣛ࢖ࣂࡢど⥺఩⨨ࡢ᥎ᐃࡸ㸪㐠㌿⾜ືពᅗࣔࢹࣝࡢᵓ⠏࡜࠸ࡗࡓ㸪ࢻࣛ࢖ࣂࡢ㐠㌿⾜ືゎᯒᡭἲࢆ㛤Ⓨࡋ࡚ࡁࡓࠋࡇࢀࡽࡢ㐠㌿⾜ືゎᯒ࡟࠾࠸࡚ࡣ㸪㌴ᐊෆ࠿ࡽྲྀᚓ
ྍ⬟࡞㐠㌿⾜ື࡟ᑐࡋ࡚㸪㉮⾜⎔ቃࡢኚ໬࡟ࡼࡗ࡚㐺ᛂ⾜ື࡬ࡢᙳ㡪ࡀ♧၀ࡉࢀ࡚ࡁࡓࠋࡑࡢࡓ
ࡵ㌴୧ᣲື࡜㌴୧᝟ሗ࡜ࡀྠᮇࡋࡓ㛗᫬㛫ࢹ࣮ࢱࡢ཰㞟ࡀ㔜せ࡜࡞ࡗ࡚࠸ࡿࠋࡇࡢࡼ࠺࡞┠ⓗ࠿ࡽ㸪ᮏ◊✲࡛ࡣ㸪ᡤᮃࡢࢹ࣮ࢱ཰㞟ࡀྍ⬟࡞ᖖ᫬グ㘓ᆺ DR ࡢタィ࣭㛤Ⓨࢆ┠ⓗ࡜ࡋ㸪ᇶ♏ࢩࢫࢸ࣒ࡢタィ࣭ᵓ⠏࡜ᇶᮏᛶ⬟ࡢホ౯ࢆ⾜ࡗࡓࠋ- 89 -

㸦㸰㸧ࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡢᵓᡂ
ᮏ◊✲࡛㛤Ⓨࡍࡿࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡢᵓᡂᅗࢆᅗ 6-1-1 ࡟♧ࡍࠋࢻࣛ࢖ࣂࡢ㐠㌿ືస᝟ሗ࡜ࡋ
࡚ࡣ㸪㸰ྎࡢ࣓࢝ࣛ࡜ຍ㏿ᗘࢭࣥࢧ㸪GPS㸦Global Positioning System㸧ࢭࣥࢧࡢ㸱✀㢮࡜ࡋ㸪ࡑࢀࡽࢆ᫬้ྠᮇࡉࡏ࡚グ㘓ࡍࡿࠋ࣓࢝ࣛࡢゎീᗘ࠾ࡼࡧࣇ࣮࣒࣮ࣞࣞࢺࡣᚑ᮶ࡢ⏬ീฎ⌮◊✲࡟ࡶ࡜࡙ࡁ 1024×768[pixel]㸪 30[fps]࡟タᐃࡋ㸪ࢹ࣮ࢱࡢ㌿㏦࡟ࡣࢠ࢞ࣅࢵࢺ࢖࣮ࢧࢿࢵࢺࢆ⏝࠸ࡿࠋࡲࡓ㸪ຍ㏿ᗘࢭࣥࢧ࡜ GPS ࢭࣥࢧࡣィ ⏝ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ㸦PC㸧࡜ Bluetooth↓⥺㏻ಙ࡟ࡼࡾグ㘓ࡍࡿࠋࢹ࣮ࢱࡢಖᏑ࡟ࡣ⪏㟈ᛶࡢ㧗࠸ SSD㸦Solid State Drive㸧ࢆ」ᩘ⏝࠸㸪
RAID ࣘࢽࢵࢺࢆ⏝࠸࡚ 1[TB] ࡢᐜ㔞ࢆ☜ಖࡍࡿࠋSTAROOM 〇㻌
RAID ࣘࢽࢵࢺ㻌e-SATA㻌

GbE
Baumer 〇㸦࢔ࣝࢦ㸧㻌
HXG20c㻌SSD㻌ࢸ࢞ࣛ〇㻌ࢫ࣒ࣜࢱ࣮࣡PC㻌
Windows7 ᦚ㍕㻌

PCIe㻌
GbE㻌
ࢺࣜ࢞ࣃࣝࢫ㻌GbE㻌

ᫎീ࣭ᣲືࢹ࣮ࢱ㛫ࡢ
ྠᮇ໬㻌

ຍ㏿ᗘ㻌
GPS㻌

DIO㻌

PC㻌

PCI Ex㻌Bluetooth࢔ࣝࢦ〇ᫎീ཰㘓ࢯࣇࢺ㻌
USB㻌

WiFi

DC 㟁※

Motion㻌

DC/AC㻌

㟁※㻌

Position㻌᧯స⏝➃ᮎࣀ࣮ࢺ PC㻌

ZMP 〇 e-nuvo Motion & Positionᅗ ࢻࣛ࢖ࣈࣞࢥ࣮ࢲᵓᡂᅗ
㸦㸱㸧㌴୧ᐇ㦂࡜⤖ᯝ๓⠇࡟࡚ᵓᡂࡋࡓᶵჾ࡟ࡘ࠸࡚㸪≉࡟⛣ື୰ࡢ㌴୧ෆ࡛ࡢᏳᐃィ ࡢྍ⬟ᛶ࡜ࡑࡢ⢭ᗘࢆ᳨ドࡍࡿ┠ⓗ࡛㸪௨ୗࡢ㌴୧ᐇ㦂ࢆ⾜࡞ࡗࡓࠋᐇ㦂㌴୧࡟ࡣᮏᏛᡤ᭷ࡢබ⏝㌴㸦Toyota Estima Hybrid㸧ࢆ⏝࠸㸪ᩍဨࡀࢻࣛ࢖ࣂ࡜࡞ࡗ࡚኱Ꮫᵓෆ࿘ᅇ㐨㊰࡟࡚㐠㌿ࢆ⾜࡞ࡗࡓࠋᮏᐇ㦂࡟ࡼࡾྲྀᚓࡋࡓ㌴୧ࡢ㧗ࡉ᪉ྥࡢຍ㏿ᗘࡢࢢࣛࣇࢆᅗ 6-1-2 ࡟♧ࡍࠋᅗ୰⦪㍈ࡣ㸪㌴୧ࡢኳ஭᪉ྥࢆṇ࡜ࡋࡓຍ㏿ᗘ࡛࠶ࡾ㸪ᶓ㍈ࡣィ ᫬㛫࡛࠶ࡿࠋࡇࡢࢢࣛࣇ࡟࠾࠸࡚㸪83[s]๓ᚋ࡟
኱ࡁ࡞ຍ㏿ᗘࡀⓎ⏕ࡋ࡚࠸ࡿࠋᅗ 6-1-3㸦a㸧࡟ྠ᫬้ࡢ㸪࠾ࡼࡧ㸪ྠᅗ㸦b㸧࡟ࡑࡢ 1[s]ᚋࡢ㌴୧๓᪉ᫎീࢆ♧ࡍࠋࡇࢀࡽ࡜ࡢ↷ྜ࡟ࡼࡾ㸪Ⓨ⏕ࡋࡓຍ㏿ᗘࡣ㸪ᵓෆ࿘ᅇ㐨㊰࡟タ⨨ࡉࢀࡓῶ㏿⏝ࣈࣟࢵࢡᖏࢆᐇ㦂㌴୧ࡀ㏻㐣ࡋࡓ᫬࡟⏕ࡌࡓࡶࡢ࡛࠶ࡿࡇ࡜ࡀࢃ࠿ࡿࠋྠᵝ࡟㸪83[s]๓ᚋࡢຍ
㏿ᗘࡣ㸪ᐇ㦂㌴୧ࡢ๓࣭ᚋ㍯ࡀῶ㏿⏝ࣈࣟࢵࢡᖏࡢ㏻㐣࡟క࠸㸪஌ࡾୖࡆ㸪㝆ࡾࡓࡇ࡜࡟ࡼࡿࡶ
ࡢ࡛࠶ࡿࠋ⌧᫬Ⅼ࡛ࡣ㸪࣓࢝ࣛࡢࣇ࣮࣒࣮ࣞࣞࢺ࡛ࣞ࣋ࣝࡢᫎീ࡜ࢹ࣮ࢱࡢྠᮇ཰㘓⢭ᗘࡢ᳨ฟ࡟ࡣ⮳ࡗ࡚࠸࡞࠸ࡀ㸪࠾࠾ࡼࡑ┠ⓗ࡜ࡍࡿྠᮇ཰㘓ࡀ࡛ࡁ࡚࠸ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡓࠋ
ࡲࡓ㸪ྠ୍᫬㛫ᖏ࡛ࡢ GPS ࢭࣥࢧࡢࢹ࣮ࢱ࡜㌴୧ᫎീ࡜ࡢẚ㍑࡟ࡼࡾ㸪఩⨨᝟ሗ⢭ᗘࢆ᳨ド
ࡋࡓࠋ᳨ド⏝࡜࡞ࡿཧ↷⏝఩⨨᝟ሗ࡜ࡋ࡚ࡣ㸪Google MapsTM ࡟࡚බ㛤ࡉࢀ࡚࠸ࡿ఩⨨᝟ሗ࠾ࡼࡧ⯟✵෗┿᝟ሗࢆ⏝࠸ࡓࠋࡑࡢ⤖ᯝ㸪GPS ィ ್࡜ィ ᫬Ⅼࡢ㌴୧఩⨨࡜ࡢ㛫࡟⣙ 5[m]ࡢࡎࢀࡀ⏕ࡌ࡚࠸ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡓࠋࡇࡢㄗᕪࡣ㸪Google MapsTM ࡢබ㛤ࡍࡿ఩⨨᝟ሗ࡜⯟✵෗┿- 90 -

࡜ࡢᰯṇㄗᕪ㸦⣙ 6[m]㸧࡜ྠ➼࡛࠶ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡓࠋ௨ୖࡢ᳨ド⤖ᯝࢆࡶ࡜࡟㸪ྛࢭࣥࢧࡢィ ⢭ᗘ࠾ࡼࡧࢭࣥࢧ㛫ࡢྠᮇ⢭ᗘࡢ⿵ṇ࣭⿵ൾ᪉ἲࢆ᳨ウࡍࡿணᐃ࡛࠶ࡿࠋ

ᅗ ㉮⾜ᐇ㦂᫬ࡢ㌴୧㧗ࡉ᪉ྥࡢຍ㏿ᗘࢹ࣮ࢱ

㸦D㸧ᐇ㦂᫬㛫 >V@࡛ࡢ๓᪉ᫎീ㸦E㸧ᐇ㦂᫬㛫 >V@࡛ࡢ๓᪉ᫎീᅗ ㉮⾜ᐇ㦂᫬ࡢ㌴୧๓᪉ᫎീ
㸦㸲㸧࠾ࢃࡾ࡟
ᮏ◊✲࡛ࡣ㸪㛗᫬㛫ࡢࢹ࣮ࢱ཰㘓ࡀྍ⬟࡞ࣇ࣮ࣜࣛࣥࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡢ㛤Ⓨࢆ┠ⓗ࡟㸪ࡑࡢᇶ♏ࢩࢫࢸ࣒ࡢᵓ⠏࡜ᵓᡂせ⣲ࡢྠᮇィ ⢭ᗘ࠾ࡼࡧ఩⨨᝟ሗ⢭ᗘࡢ᳨ドࢆ⾜࡞ࡗࡓࠋ኱Ꮫᵓෆ
࿘ᅇ㐨㊰ࢆᑐ㇟࡜ࡋࡓබ⏝㌴ࢆ⏝࠸ࡓᐇ㦂࡟ࡼࡾ㸪㌴㍕࡛ࡢືసࡢ☜ㄆ࡜ᇶᮏⓗ࡞᳨ドࢆ⾜࠸㸪ᇶᮏᛶ⬟ࢆ☜ㄆࡋࡓࠋ௒ᚋࡣ㸪⌧᫬Ⅼࡢᶵჾᵓᡂ࡟ᑐࡋ㸪㐠㌿ືస⾜ືࢆィ ࡍࡿࡓࡵࡢせ⣲ࢆ
㏣ຍࡋ㸪ྛࠎࡢ⢭ᗘ᳨ド࡜᭱⤊ⓗ࡞ྠᮇ཰㘓ᛶ⬟ࡢ☜ㄆࢆ⾜࡞࠺ணᐃ࡛࠶ࡿࠋ
㸦❶ ᛅ㸪୕Ꮿ ဴኵ㸪௒ᮧ Ꮥ㸪బࠎᮌ ኱៞㸪ྂᕷ ᖹ㸧㸴㸫㸰 ࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱࢆ⏝࠸ࡓ㐠㌿⾜ືពᅗࡢ௜୚࡜ࡑࡢ᥎ᐃ࡟㛵ࡍࡿ◊✲㸦㸯㸧ࡣࡌࡵ࡟
㸴㸫㸯࡛♧ࡋࡓࡼ࠺࡟㸪஺㏻஦ᨾࡢపῶᑐ⟇࡜ࡋ࡚ࢻࣛ࢖ࣂࡢ⾜ືゎᯒᢏ⾡࡟㛵ࡍࡿ◊✲㛤Ⓨࡀ┒ࢇ࡟⾜ࢃࢀ࡚࠸ࡿࠋ࡞࠿࡛ࡶ㸪஺㏻஦ᨾ࡟ࡼࡿ㔜኱࡞ே㌟ᦆയࢆ㍍ῶࡍࡿࡓࡵ ABS ࡸ࢚࢔ࣂࢵࢢ࡞࡝㸪ᵝࠎ࡞Ᏻ඲⿦ഛࡀከࡃࡢ⮬ື㌴࡟ᶆ‽⿦ഛࡉࢀ࡚࠸ࡿࠋࡉࡽ࡟⮬ື㌴༢య࡛ࡢ㐠㌿ᨭ᥼࡛ࡣ࡞ࡃ㸪㐨㊰᝟ሗ࡜㌴୧᝟ሗࢆ⤌ࡳྜࢃࡏ㸪ࡼࡾᏳ඲ᛶࡸ฼౽ᛶࡀ㧗࠸㐠㌿ᨭ᥼ࡢᐇ⌧ࢆ- 91 -

┠ᣦࡋࡓ㧗ᗘ㐨㊰஺㏻ࢩࢫࢸ࣒㸦ITS : Intelligent Transport Systems㸧ࡢᐇ⏝໬ࡶ㐍ࡵࡽࢀ࡚
࠸ࡿ(6-4)ࠋࡇࡢࡼ࠺࡞㐠㌿ᨭ᥼ࢩࢫࢸ࣒ࡣ㸪฼౽ᛶࡣ໚ㄽ㸪Ᏻ඲ᛶ࠿ࡽぢ࡚ࡶ㠀ᖖ࡟᭷⏝࡛࠶ࡾ㸪ࢻࣛ࢖ࣂ࡬ከ✀ࡢ᝟ሗࢆᥦ౪࡛ࡁࡿࠋ
࡜ࡇࢁࡀ㸪ࢻࣛ࢖ࣂពᅗࢆ⪃៖ࡋࡓ㐠㌿ᨭ᥼ࢩࢫࢸ࣒ࡣᐇ⏝໬ࡉࢀ࡚࠸࡞࠸ࡢࡀ⌧≧࡛࠶ࡿࠋࡇࢀࡽࡢ㐠㌿ᨭ᥼ࢩࢫࢸ࣒ࡣ㸪ࢻࣛ࢖ࣂࡢពᅗ࡟཯ࡋࡓᨭ᥼ࢆ⾜࠺ྍ⬟ᛶࡶ࠶ࡿࠋࡑࡢሙྜ㸪㐠㌿ᨭ᥼ࢩࢫࢸ࣒ࡀ࠿࠼ࡗ࡚㐠㌿ࡢጉࡆ࡜࡞ࡾࢩࢫࢸ࣒ࡢ౯್ࡸಙ㢗ᛶࡀᦆ࡞ࢃࢀ࡚ࡋࡲ࠺ࠋୖグࡢ◊✲⫼ᬒࡼࡾ㸪ᮏ◊✲ᐊ࡟࠾࠸࡚ࡣࣃࢱ࣮࣐ࣥࢵࢳࣥࢢᡭἲࢆࢻࣛ࢖ࣂពᅗࡢ᥎ᐃ࡟㐺⏝ࡍࡿ◊✲ࢆ㐍ࡵ࡚ࡁࡓࠋࡑࡢ࡞࠿࡛ࡶ㸪ࢻࣛ࢖ࣂពᅗࡢ┿್ࢆᚓࡿࡇ࡜ࡀ࡛ࡁ࡞࠿ࡗࡓࡓࡵ࡟㸪ᐈほⓗ࡞ࣔࢹࣝᵓ⠏ࡸ㸪ᐃ㔞ⓗ࡞᥎ᐃ⢭ᗘࢆㄽࡎࡿࡇ࡜ࡀᅔ㞴࡛࠶ࡗࡓࠋ
ᮏ◊✲࡛ࡣࢻࣛ࢖ࣂࡀ஺㏻つ๎ࢆ㑂Ᏺࡍࡿࡇ࡜ࢆ๓ᥦ࡟㸪ࢻࣛ࢖ࣂࢆྲྀࡾᕳࡃ⎔ቃࡢไᚚ࡟ࡼ
ࡗ࡚㸪ࡑࡢពᅗࢆㄏᑟࡍࡿᐇ㦂ࢆ⾜࠺ࠋࡇࡢᐇ㦂࡟ࡼࡾࢻࣛ࢖ࣂࢆᡤᐃࡢពᅗ࡬࡜ㄏᑟࡋ㸪ࡑࡢ⤖ᯝࢆࢻࣛ࢖ࣂពᅗࡢ┿್࡜௬ᐃࡍࡿࡇ࡜࡛㸪ࣃࢱ࣮࣐ࣥࢵࢳࣥࢢᡭἲࢆ⏝࠸ࡓពᅗ᥎ᐃࣔࢹࣝ
ࢆᵓ⠏ࡋ㸪ࡑࡢ᥎ᐃ⢭ᗘࡢ᳨ドࢆ⾜࠺ࠋࡲࡓ㸪㐠㌿ᨭ᥼ࢩࢫࢸ࣒࡞࡝ࡢࢻࣛ࢖ࣂពᅗ᥎ᐃࡢ࢔ࣉ
ࣜࢣ࣮ࢩࣙࣥࡢከࡃࡣ㸪ࣜ࢔ࣝࢱ࢖࣒ពᅗ᝟ሗࢆᚲせ࡜ࡍࡿࡇ࡜࠿ࡽ㸪ࢻࣛ࢖ࣂពᅗࡢࣜ࢔ࣝࢱ
࢖࣒᥎ᐃᡭἲ࡟ࡘ࠸࡚ࡶ᳨ウࡍࡿࠋ࡞࠾㸪ᮏ◊✲࡟࠾࠸࡚ᑐ㇟࡜ࡍࡿࢻࣛ࢖ࣂពᅗ࡜ࡣ㸪ࢻࣛ࢖ࣂࡀ௒ࡲࡉ࡟ࡋ࡚࠸ࡿ㐠㌿࡟㛵ࢃࡿືస㸦೵Ṇ࣭ຍ㏿࣭㉮⾜࣭ῶ㏿࣭ᕥᢡ࣭ྑᢡ㸧࡜ᐃ⩏ࡍࡿࠋ㸦㸰㸧㉮⾜⎔ቃࡢタィᮏ◊✲࡛౑⏝ࡍࡿ㐠㌿⾜ືࢹ࣮ࢱࡣ㸪FORUM8 ♫ࡢࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱ㸦௨ୗ DS㸧
UC-win/Road 9.0.0 ࢆ⏝࠸࡚཰㞟ࡍࡿࠋᅗ 6-2-1 ࡟ᑟධࡋࡓ DS ࡢእほࢆ♧ࡍࠋᅗ ᮏ◊✲࡛ᵓ⠏ࡋࡓࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱ⿦⨨DS ࡣ୍⯡࡟㸪ᐇ㌴࡜ࡣ␗࡞ࡗࡓ㐠㌿ឤぬࢆ୚࠼ࡿ࡜࠸࠺ḞⅬࢆᣢࡘࡶࡢࡢ㸪ᐇ㦂᮲௳ࢆ⤫ไ࣭ไᚚ࣭෌⌧࡛ࡁࡿࡓࡵ㸪ࢻࣛ࢖ࣂࡢㄆ▱ุ࣭᩿ࣉࣟࢭࢫࡢ◊✲࡟㐺ࡋ࡚࠸ࡿࠋ㉮⾜⎔ቃෆ࡟ࡣ㸪⮬ື㌴ࡢ㐠㌿࡟࠾࠸࡚㸪ಙྕࢆどㄆࡋࡓ᫬Ⅼ࡛㉥࡛࠶ࢀࡤ೵Ṇ࡟⮳ࡿ࡞࡝㸪ᇶᮏⓗ࡞஺㏻つ- 92 -

๎ࡢ㑂Ᏺࢆ๓ᥦ࡟㸪௨ୗࡢࡼ࠺࡞㉮⾜⎔ቃࡢኚ໬࡟క࠺㐠㌿ពᅗኚ໬ࡢ㛵㐃ᛶࢆ᝿ᐃࡋ㸪⎔ቃไᚚ㔞࡜ࡋ࡚㓄⨨ࡋࡓࠋࡇࢀ࡟ࡼࡾ㸪⿕㦂⪅ࡣ㐪࿴ឤ࡞ࡃᡤᐃࡢពᅗ࡬࡜ㄏᑟࡉࢀࡿࠋᮏ◊✲࡛ࡣ㸪ࡇࡢᡤᐃࡢពᅗࢆࠕពᅗࣛ࣋ࣝࠖ࡜࿧ࡧ㸪ࢻࣛ࢖ࣂពᅗࡢ┿್࡜ࡋ࡚ᢅ࠺ࠋ
ࠓ⎔ቃไᚚ㔞ࠔ
஺㏻ಙྕ㸦㟷Ѝ㉥㸧ᥦ♧⮬㌴୧ࡀᡤᐃࡢῶ㏿㛤ጞᆅⅬᗙᶆ࡟฿㐩ࡍࡿ࡜㸪㉥࡟࡞ࡿࡼ࠺࡟タᐃࡉࢀࡓಙྕᶵࢆタ⨨ࡍࡿࠋࡡࡽ࠸㸸ῶ㏿ࣛ࣋ࣝࡢᐃ⩏஺㏻ಙྕ㸦㉥Ѝ㟷㸧ᥦ♧ಙྕࡀ㉥࡟ኚ໬ࡋ࡚࠿ࡽ㸪୍ᐃ᫬㛫⤒㐣ᚋ࡟෌ࡧಙྕࡀ㟷࡟࡞ࡿࡼ࠺࡟タᐃࡍࡿࠋࡡࡽ࠸㸸ຍ㏿ࣛ࣋ࣝࡢᐃ⩏࿘㎶஺㏻ὶ
⮬㌴୧ࡢ࿘㎶㌴୧࡟ࡣ┠ᶆ㏿ᗘࢆタᐃࡋ㸪⿕㦂⪅ࡀ⮬↛࡟ὶࢀ࡟ྜࢃࡏࡓ㐠㌿ࢆ⾜࠺ࡼ࠺࡟ᅗࡿࠋࡲࡓ㸪ඛ⾜㌴࡟㏿ᗘࢆタᐃࡍࡿࡇ࡜࡟ࡼࡗ࡚㸪⮬㌴୧ࡢ᭱㧗㏿ᗘࢆไ㝈ࡍࡿ༊㛫ࢆタࡅࡿࠋ
ࡡࡽ࠸㸸ຍ㏿ࣛ࣋ࣝ࡜㉮⾜ࣛ࣋ࣝࡢᐃ⩏஺ᕪⅬ⿕㦂⪅࡟ணࡵ㸪㉮⾜࣮ࣝࢺࢆㄝ᫂ࡍࡿ࡜࡜ࡶ࡟㸪㐠㌿୰࡟ྑᕥᢡࡍࡿ஺ᕪⅬ࡟᥋㏆ࡍࡿ࡜㸪ࣔࢽࢱୖ࡟᪉ྥᣦ♧ࢆ⾲♧ࡍࡿࠋࡡࡽ࠸㸸ྑᕥᢡࣛ࣋ࣝࡢᐃ⩏㸦㸱㸧ࢹ࣮ࢱࡢゎᯒ๓❶࡛♧ࡋࡓ㉮⾜⎔ቃ࡟ࡼࡾྲྀᚓࡋࡓࢹ࣮ࢱ㸦⣙ 500[s]࣭10,000 Ⅼ㸧ࢆ௨ୗࡢᡭ㡰࡛ゎᯒࡋ㸪ពᅗࣛ࣋ࣝᐃ⩏ࢆ⾜࠺ࠋࡇࢀࡽࡣ㸪ࢻࣛ࢖ࣂࡢ᧯స㔞ࢆ㜈್ฎ⌮➼࡟ࡼࡿศ㢮࡟࡚ᐃ⩏࡛ࡁࡿࡇ࡜࠿ࡽ㸪ࡑࡢᐈほᛶࢆಖドࡋ࡚࠸ࡿࠋ
ࠓࣛ࣋ࣝᐃ⩏ᡭ㡰ࠔ
1. ೵Ṇࣛ࣋ࣝ(Stop) ᐃ⩏㏿ᗘࡀ 0 ࠿ࡘ㸪࢔ࢡࢭࣝࢆ㋃ࢇ࡛࠸࡞࠸᫬ࢆࠕ೵Ṇࠖ࡜ࡍࡿࠋ
2. ῶ㏿ࣛ࣋ࣝ(Decel) ᐃ⩏ಙྕࡀ㉥࡟ኚ໬ࡍࡿᗙᶆ௜㏆࡛࢔ࢡࢭࣝࢆ㞳ࡋࡓ᫬้ࢆ᥈⣴ࡋ㸪ࡑࡢⅬ࠿ࡽࠕ೵Ṇࠖࡍࡿࡲ࡛㸪ࡶࡋࡃࡣ෌ࡧຍ㏿ᗘࡀṇ࡟࡞ࡿࡲ࡛ࢆࠕῶ㏿ࠖ࡜ࡍࡿࠋ
3. ຍ㏿࣭㉮⾜ࣛ࣋ࣝ(Accel/Constant) ᐃ⩏ࠕຍ㏿ࠖ༊㛫ཬࡧࠕ㉮⾜ࠖ༊㛫ࡣ㸪ඛ࡟ᐃ⩏ࡋࡓࠕ೵Ṇࠖ࡜ࠕῶ㏿ࠖࡢ㛫㸪ࡶࡋࡃࡣࠕῶ
㏿ࠖ࡜ࠕῶ㏿ࠖࡢ㛫࡟࠶ࡽࢃࢀࡿ࡜௬ᐃ࡛ࡁࡿࠋࡑࢀࡽࡢ༊㛫ࢆ 2 ࡘࡢ┤⥺࡛㏆ఝࡋ㸪2 ┤⥺ࡢ஺Ⅼ௨๓ࢆࠕຍ㏿ࠖ༊㛫㸪௨ᚋࢆࠕ㉮⾜ࠖ༊㛫࡜ࡍࡿࠋ- 93 -

4. ྑᕥᢡࣛ࣋ࣝ(TurnRight/TurnLeft) ᐃ⩏஺ᕪⅬ㐍ධ୰࡟㸪࢔ࢡࢭࣝࢆ㋃ࡳጞࡵࡓ᫬้ࢆྑᕥᢡ㛤ጞⅬ࡜ࡋ㸪஺ᕪⅬ⤊஢ᆅⅬ࿘㎶࡛
ࢫࢸ࢔ࣜࣥࢢゅᗘ 0 ࡟࡞ࡗࡓ᫬้࡟࡚㸪ྑᕥᢡ⤊஢࡜ࡍࡿࠋ

㸦㸲㸧㐠㌿⾜ືពᅗ᥎ᐃ
ձ࢜ࣇࣛ࢖ࣥពᅗ᥎ᐃ
ᮏ◊✲࡛ᵓ⠏ࡋࡓ㉮⾜⎔ቃࢆ⏝࠸࡚⿕㦂⪅ᐇ㦂ࢆ⾜࠸㸪ᥦ᱌ᡭἲࡢ᳨ドࢆ⾜ࡗࡓࠋ࡞࠾㸪⿕㦂⪅ᐇ㦂ࡣ㸪ᮏᏛࠕࣄࢺࢆᑐ㇟࡜ࡍࡿ◊✲つᐃࠖ࡟ࡶ࡜࡙ࡃᐇ㦂ィ⏬ࡢᑂᰝ࣭ᢎㄆࢆᚓࡓࡢࡕ㸪࢖ࣥࣇ࢛࣮࣒ࢻࢥࣥࢭࣥࢺࢆᚓࡓ⿕㦂⪅ࢆᑐ㇟࡟ᐇ᪋ࡋࡓࠋ
ᮏᐇ㦂ࡢ⿕㦂⪅࡜ࡋ࡚ࡣ㸪೺ᗣ࡞ 20 ᡯ௦ࡢ⏨ᛶ㸲ྡ㸦a㹼d㸧ࢆᑐ㇟࡜ࡋࡓࠋ
ࡲࡎ㸪ྲྀᚓࡋࡓ㐠㌿ࢹ࣮ࢱࢆ๓❶ࡢࣛ࣋ࣝᐃ⩏ᡭ㡰࡟ࡋࡓࡀࡗ࡚ศ㢮ࡋࡓࠋᅗ 6-2-2 ࡟㸪㐠㌿ࢹ࣮ࢱ࡜ᐃ⩏ࡋࡓࣛ࣋ࣝࡢ᫬㛫᥎⛣౛ࢆ♧ࡍࠋ㏿ᗘ࣭ࢫࢸ࢔ࣜࣥࢢゅᗘ࣭࣌ࢲࣝ᧯స㔞ࡢኚ໬࡟కࡗ࡚㸪㐺ษ࡟ࣛ࣋ࣝࡀᐃ⩏ࡉࢀ࡚࠸ࡿࠋᅗ ពᅗࣛ࣋ࣝࡢᐃ⩏⤖ᯝḟ࡟㸪㏿ᗘ࣭ຍ㏿ᗘ࣭ࢫࢸ࢔ࣜࣥࢢゅᗘ࣭࣌ࢲࣝ᧯స㔞ࡢྛ್ࢆ 4 ḟඖࡢᏛ⩦ࢹ࣮ࢱ࡜ࡋ࡚㸪೵Ṇ࣭ຍ㏿࣭㉮⾜࣭ῶ㏿࣭ᕥᢡ࣭ྑᢡࡢពᅗࣛ࣋ࣝẖ࡟ィ 6 ࡘࡢΰྜṇつศᕸ㸦GMM : Gaussian
Mixture Models㸧ࢆᵓ⠏ࡋࡓࠋGMM ࡣ㸪」ᩘࡢṇつศᕸࡢ⥺ᙧ⤖ྜ࡟ࡼࡗ࡚⾲⌧ࡉࢀࡿ⤫ィࣔࢹ࡛ࣝ࠶ࡿࠋ࠶ࡿ᫬้ t ࡟࠾ࡅࡿ≉ᚩ࣋ࢡࢺࣝࢆ୚࠼ࡓ࡜ࡁࡢ☜⋡ࢆồࡵ㸪ࡉࡽ࡟๓ྥࡁ࢔ࣝ
ࢦࣜࢬ࣒ࢆ㐺⏝ࡋ㸪ࡑࡢ್ࡀ᭱኱࡜࡞ࡿពᅗ࡟ᒓࡍࡿࡶࡢ࡜᥎ᐃࡍࡿࠋྲྀᚓࡉࢀࡿ㐠㌿ࢹ࣮ࢱࡣẖᅇࡢࡤࡽࡘࡁࡀ኱ࡁࡃ㸪GMM ࡢΰྜᩘࢆከࡃࡍࡿ࡜㸪㐣Ꮫ⩦࡟㝗ࡾ᥎ᐃ⢭ᗘࡢపୗࢆᘬࡁ㉳ࡇࡍࠋࡑࡢࡓࡵࡇࡇ࡛ࡣΰྜᩘ 2 ࡜ࡋࡓࠋ௒ᅇᐃ⩏ࡋࡓពᅗࣛ࣋ࣝࢆ┿್࡜ࡍࡿࡇ࡜࡛㸪┿್࡜ពᅗ᥎ᐃ⤖ᯝ࡜ࡀ➼ࡋ࠸ࢧࣥࣉࣝᩘࢆᐃ㔞໬࡛ࡁ㸪ࡉࡽ࡟㸪඲ࢧࣥࣉࣝᩘ࡛㝖ࡋ࡚ồࡵࡓ๭ྜࢆ
᥎ᐃ⢭ᗘ࡜ࡋ࡚ྲྀࡾᢅ࠺ࡇ࡜ࡀྍ⬟࡜࡞ࡗࡓࠋ
ḟ࡟ᅗ 6-2-3 ࡟⿕㦂⪅ a ࡢពᅗ᥎ᐃࡢ⤖ᯝࢆ♧ࡍࠋ⿕㦂⪅ a ࡛ࡣ 88.0㸣㸪ࡲࡓ⿕㦂⪅ a㹼d ඲- 94 -

ဨࡢᖹᆒ࡛ 83.3 㸣ࡢ⢭ᗘ࡛ពᅗ᥎ᐃࡀ࡛ࡁࡓࠋࡇࢀ࡟ࡼࡾ㸪ࢻࣛ࢖ࣂពᅗࡢ㑄⛣᫬้ࢆᐃ㔞໬ࡍࡿࡇ࡜࡟ᡂຌࡋࡓࡇ࡜ࢆ☜ㄆࡋࡓࠋ᥎ᐃ⢭ᗘࢆᑟධࡋࡓࡇ࡜࡛㸪GMM ࢆ⏝࠸ࡓពᅗ᥎ᐃࡢ⤖ᯝࢆᐈほⓗ࣭ᐃ㔞ⓗ࡟ホ౯ࡍࡿᣦᶆ࡜ࡍࡿࡇ࡜ࡀ࡛ࡁࡓࠋࡇࢀࡽࡢ⤖ᯝ࡟ࡼࡾ㸪௒ᚋ㸪ពᅗ᥎ᐃࣔࢹࣝࢆ᭱㐺໬ࡍࡿ࡞࡝㸪ᐃ㔞ⓗ࡞ᨵၿࡀぢ㎸ࡵࡿࠋᅗ ⿕㦂⪅ࢆᑐ㇟࡜ࡋࡓពᅗ᥎ᐃ⤖ᯝղࣜ࢔ࣝࢱ࢖࣒ពᅗ᥎ᐃࢩࢫࢸ࣒
ࢻࣛ࢖ࣂពᅗ᥎ᐃࢆ㐠㌿ࢹ࣮ࢱ 1 ࢧࣥࣉࣝẖ࡟ࣜ࢔ࣝࢱ࢖࣒࡛⾜࠺ࡇ࡜࡛㸪ᵝࠎ࡞㐠㌿ᨭ᥼࢔ࣉࣜࢣ࣮ࢩࣙࣥࡢᐇ⌧ࡀぢ㎸ࡵࡿࠋࡑࡇ࡛㸪ࡑࡢᐇ⌧ྍ⬟ᛶࢆ᳨ドࡍࡿࡓࡵ࡟㸪ࣜ࢔ࣝࢱ࢖࣒ព
ᅗ᥎ᐃࢩࢫࢸ࣒ࢆᵓ⠏ࡋࡓࠋᅗ 6-2-4 ࡟ᵓ⠏ࡋࡓࢩࢫࢸ࣒ࡢᴫ␎ᅗࢆ♧ࡍࠋᅗ ࣜ࢔ࣝࢱ࢖࣒ពᅗ᥎ᐃࢩࢫࢸ࣒ࡢࣇ࣮ࣟࢳ࣮ࣕࢺ

ᮏࢩࢫࢸ࣒࡛ࡣ㸪࠶ࡽ࠿ࡌࡵ࢜ࣇࣛ࢖࡛ࣥࢻࣛ࢖ࣂẖ࡟ࣔࢹࣝࡢᏛ⩦ࢆ⾜࠸㸪GMM ࡢྛࣃ࣓࣮ࣛࢱࢆ⟬ฟࡋ࡚࠾ࡃࡶࡢ࡜ࡍࡿࠋࣜ࢔ࣝࢱ࢖࣒ពᅗ᥎ᐃฎ⌮ࡣ㸪࢖࣮ࢧࢿࢵࢺࢆ௓ࡋࡓ DS ไᚚ⏝࡜ࡣ␗࡞ࡿ PC ࡟࠾࠸࡚₇⟬ࢆ⾜࠺ࡶࡢ࡜ࡍࡿࠋࡑࡢࡓࡵ DS ࠿ࡽࡣไᚚࢧࣥࣉࣝࡈ࡜࡟ព

- 95 -

ᅗ᥎ᐃ࡟⏝࠸ࡿ㐠㌿ࢹ࣮ࢱࢆ㌿㏦ࡍࡿࠋࢹ࣮ࢱ㌿㏦࡟ࡣ㸪࢖࣮ࢧࢿࢵࢺࣉࣟࢺࢥࣝࡢ࠺ࡕ㸪UDP
㸦User Datagram Protocol㸧ࢆ⏝࠸ࡓࠋUDP ࡛ࡣ㸪ࢹ࣮ࢱࡢ㏦㐩᳨ドฎ⌮ࢆకࢃ࡞࠸ࡓࡵ㸪ࢹ࣮ࢱ㌿㏦ࡢ㡰ᗎࡸ᏶඲ᛶࡣಖドࡉࢀ࡞࠸ࡶࡢࡢ㸪㏻ಙฎ⌮ࡢ࣮࢜ࣂ࣮࣊ࢵࢻࡀ๐ῶࡉࢀ㸪༶᫬ᛶࡀಖࡓࢀࡿࠋࡇࢀ࡟ࡼࡾ㏦ಙࡉࢀࡿ㐠㌿ࢹ࣮ࢱ࡟ᑐࡋ㸪ࣜ࢔ࣝࢱ࢖࣒࡟ពᅗࢆ᥎ᐃࡋ௜୚ࡍࡿࠋ
࡞࠾㸪GMM ࡜๓ྥࡁ࢔ࣝࢦࣜࢬ࣒࡟ࡼࡿពᅗ᥎ᐃࡣィ⟬㈇Ⲵࡀᑠࡉࡃ㸪ࡇࡢࡇ࡜ࡣ᳨ドᐇ㦂࡟࠾࠸࡚ࡶࣜ࢔ࣝࢱ࢖࣒ฎ⌮ࡀ༑ศྍ⬟࠶ࡿࡇ࡜࡛☜ㄆ࡛ࡁࡓࠋ

㸦㸳㸧࠾ࢃࡾ࡟
DS ࢆ⏝࠸࡚ࢻࣛ࢖ࣂࢆྲྀࡾᕳࡃ㐠㌿⎔ቃ᮲௳ࢆไᚚࡍࡿࡇ࡜࡛㸪ࢻࣛ࢖ࣂࡢពᅗࢆㄏᑟࡋ㸪㐠㌿ࢹ࣮ࢱ࡟ᑐࡋ࡚┿್࡟┦ᙜࡍࡿពᅗࣛ࣋ࣝࢆᐃ⩏ࡍࡿ᪉ἲࢆᥦ᱌ࡋ㸪ᐇ㦂࡟ࡼࡾ᭷ຠᛶࢆ☜ㄆࡋࡓࠋࡇࢀ࡟ࡼࡾ㸪㐠㌿⾜ືពᅗ᥎ᐃࣔࢹࣝࡢᵓ⠏࡟つ⠊ࢹ࣮ࢱࢆ⏝࠸ࡿࣃࢱ࣮࣐ࣥࢵࢳࣥࢢ
ᡭἲࡢ㐺⏝ࡀྍ⬟࡜࡞ࡗࡓࠋࡲࡓ㸪௒ᅇᐃ⩏ࡋࡓពᅗࣛ࣋ࣝࢆ┿್࡜ࡍࡿࡇ࡜࡛㸪᥎ᐃ⢭ᗘࡢᐃ㔞ⓗ࡞ホ౯ࡀྍ⬟࡜࡞ࡗࡓࠋ
ࡉࡽ࡟㸪ᮏ◊✲࡛ࡣពᅗ᥎ᐃࣔࢹࣝࡀࣜ࢔ࣝࢱ࢖࣒ฎ⌮ࡶྍ⬟࡛࠶ࡿࡇ࡜ࡶ♧ࡋࡓࠋ௒ᚋࡣࣜ
࢔ࣝࢱ࢖࣒ពᅗ᥎ᐃࢆⓎᒎࡉࡏ㸪ₔ↛㐠㌿ࡸ╀Ẽ᳨ฟ࡞࡝㸪㐠㌿≧ែ᥎ᐃࢩࢫࢸ࣒ࡢ࡬ࡢᛂ⏝ࡶᮇᚅ࡛ࡁࡿࠋ
㸦❶ ᛅ㸪௒ᮧ Ꮥ㸪୕Ꮿ ဴኵ㸪Ⲷ ᬛᡂ㸧㸴㸫㸱 ࣇ࢓ࢪ࢕᥎ㄽ࡟ࡼࡿࢻࣛ࢖ࣂࡢ㞟୰≧ែࡢホ౯㸦㸯㸧ࡣࡌࡵ࡟
᪥ᮏࡢ஺㏻஦ᨾṚ⪅ᩘࡣ㸪Ᏻ඲㐠㌿ᨭ᥼ࢩࢫࢸ࣒࡞࡝ࡢຠᯝ࡟ࡼࡾ㸪1995 ᖺ௨㝆ῶᑡࡋ࡚࠸
ࡿࠋࡋ࠿ࡋ㸪஦ᨾⓎ⏕௳ᩘࡣ࠸ࡲࡔ࡟ 691,937 ௳࡜༑ศ࡞ῶᑡ࡟⮳ࡗ࡚࠸࡞࠸ࠋࡑࡢ୺࡞ཎᅉ
ࡣ㸪᪥ᖖⓗ࡞㉮⾜⤒㊰࡟࠾ࡅࡿ㌴୧๓᪉୙ὀព㸪⬥ぢ㸪ࡰࢇࡸࡾ㐠㌿࡞࡝ࡢ㸪࠸ࢃࡺࡿₔ↛㐠㌿ࡀከࡃࢆ༨ࡵ࡚࠸ࡿࠋࡇࡢࡇ࡜ࡣ㔜኱࡞ၥ㢟࡛࠶ࡿ࡟ࡶ㛵ࢃࡽࡎ㸪⌧≧࡛ࡣ✚ᴟⓗ࡞ₔ↛㐠㌿ࡢ㜵Ṇᑐ⟇ࡀ࡞ࡉࢀ࡚࠸࡞࠸ࠋ
࠿࠿ࡿ⫼ᬒ࡟ࡶ࡜࡙ࡁ㸪ᡃࠎࡣᅗ 6-3-1 ࡟♧ࡍ㸪ࢻࣛ࢖ࣂࡢ㐠㌿㞟୰ᗘࢆホ౯ࡍࡿࢩࢫࢸ࣒ࢆ
ᵓ⠏ࡋ࡚ࡁ࡚࠸ࡿࠋᮏࢩࢫࢸ࣒ࡣ㸪㌴୧࡟஧ྎࡢ༢║࣓࢝ࣛࢆᦚ㍕ࡋࢻࣛ࢖ࣂࡢ㐠㌿㞟୰ᗘࢆホ౯ࡍࡿࡶࡢ࡛࠶ࡾ㸪Camera 1 ࡣ㌴୧๓᪉ࢆ㸪Camera 2 ࡣࢻࣛ࢖ࣂࡢ㢦ࢆࡑࢀࡒࢀ᧜ᙳࡍࡿࠋ
ࡇࢀࡽ஧ྎࡢ࣓࢝ࣛ࡟ࡼࡿ᝟ሗࢆ⏬ീฎ⌮ࡍࡿࡇ࡜࡟ࡼࡾ㸪ࢻࣛ࢖ࣂࡢど⥺࡜ὀどᑐ㇟ࡢ᝟ሗࡀ
ࡑࢀࡒࢀᚓࡽࢀ㸪ࡑࡢ᝟ሗฎ⌮࡟ࡼࡾₔ↛ᗘ࣭ぬ㓰ᗘ࣭㐠㌿㞟୰ᗘ࡞࡝ࢆ᥎ᐃ࣭⟬ฟࡍࡿࠋࡇࢀ
ࡲ࡛࡟㸪ࢻࣛ࢖ࣂࡢὀど⾜ືࢆᩘ್໬ࡋ㸪๓᪉ᫎീ୰ࡢᑐ㇟≀࡜ࡢᩚྜ࡟ࡼࡾ㸪ࡑࡢὀど⾜ືࡢጇᙜᛶࢆุ᩿ࡋ㸪ࢻࣛ࢖ࣂࡢ㐠㌿㞟୰ᗘࢆ᥎ᐃࡍࡿࢩࢫࢸ࣒ࡸ㸪⏬ീฎ⌮ࢆ⏝࠸ࡓ▐ࡁ⋡ࡢィ࡟ࡼࡿព㆑పୗ᳨▱ࢩࢫࢸ࣒ࡀᥦ᱌ࡋ࡚ࡁࡓࠋࡲࡓ㸪௚◊✲⪅ࡸ⮬ື㌴㛤Ⓨ௻ᴗ➼࡟ࡼࡾ㸪୺࡟ᒃ╀ࡾࢆᑐ㇟࡟ࡋࡓࢻࣛ࢖ࣂィ ᢏ⾡ࡀ◊✲ࡉࢀ࡚ࡁࡓࠋ
ᮏ◊✲࡛ࡣ㸪ᅗ 6-3-1 ࡟♧ࡍࢩࢫࢸ࣒ࡢ࠺ࡕ㸪ࢻࣛ࢖ࣂࡀὀどࡍ࡭ࡁ≀యࡢ఩⨨᝟ሗ㸪ࢻࣛ࢖- 96 -ࣂࡢど⥺᝟ሗ࡜▐ࡁࡢ᝟ሗ࡟ᇶ࡙ࡁ㸪ព㆑పୗ᫬ࡢ⾜ື࡜๓᪉⎔ቃ࡜ࡢ㛵㐃ᛶࢆ᳨ウࡋ㸪ࢻࣛ࢖ࣂࡢ㐠㌿≧ែ᥎ᐃࢆヨࡳࡿࠋ≉࡟㸪ࢻࣛ࢖ࣂࡀࠕࡰࢇࡸࡾࡋ࡚㐠㌿ࡍࡿࠖ࡜࠸࠺᭕᫕࡞⾜Ⅽࢆ᳨ฟࡍࡿ᪉ἲ࡜ࡋ࡚㸪ࣇ࢓ࢪ࢕᥎ㄽࢆ㐺⏝ࡋ, ࢻࣛ࢖ࣂࡢ㞟୰ᗘࢆ᥎ᐃࡍࡿ࡜ඹ࡟㸪Ᏻ඲㐠㌿ࡢᗘྜ࠸ࢆホ౯ࡍࡿࡇ࡜ࢆ┠ⓗ࡜ࡍࡿࠋᅗ ᥦ᱌ࡍࡿₔ↛㐠㌿᳨ฟࢩࢫࢸ࣒ࡢᴫ␎

㸦㸰㸧㞟୰ᗘపୗࡢุᐃ
ձࣇ࢓ࢪ࢕᥎ㄽ࡟ࡘ࠸࡚
ࣇ࢓ࢪ࢕᥎ㄽ࡜ࡣ㸪ᐃ㔞ⓗ࡟つᐃ࡛ࡁ࡞࠸ࠕ᭕᫕ࡉࠖࢆ࣮ࣝࣝࡢ᮲௳ࡸ⤖ㄽ࡟グ㏙࡛ࡁࡿ᥎ㄽ
᪉ᘧ࡛࠶ࡿࠋ⌮ㄽ್ࡀ 0 ௨ୖ㸪1 ௨ୗࡢ௵ពࡢᐇᩘࢆྲྀࡾᢅ࠸㸪0 ࡟㏆࠸࡯࡝ഇ࡟㏆ࡃ㸪1 ࡟㏆࠸࡯࡝┿࡟㏆࠸࡜࠸࠺᥎ㄽ࡛࠶ࡿࠋࣇ࢓ࢪ࢕᥎ㄽࡢ࣮ࣝࣝࡣ᭕᫕ᛶࢆྵࡴࠕIF w = A AND x =B AND y = C THEN z =Dࠖࡢࡼ࠺࡞ IF-THEN ᙧᘧ࡜࡞ࡿࠋࡑࢀࡒࢀ㸪IF ࡛♧ࡉࢀࡿ࣓ࣥࣂ
࣮ࢩࢵࣉࡢ๓௳㒊㸪THEN ࡛♧ࡉࢀࡿ࣓ࣥࣂ࣮ࢩࢵࣉࡢᚋ௳㒊࡜࿧ࡤࢀ㸪w, x, y, z ࡣኚᩘ㸪A, B,
C, D ࡣࣇ࢓ࢪ࢕㞟ྜ࡛࠶ࡿࠋ
ࠕ㹶㸻㸿ࠖࡣࠕ㹶Ѯ㸿ࠖࡍ࡞ࢃࡕࠕx ࡣࣇ࢓ࢪ࢕㞟ྜ A ࡟ᒓࡍࡿࠖ
࡜࠸࠺ព࿡ࢆ⾲ࡍࠋᚋ௳㒊 D ࡣ⤖ㄽ࡜ࡋ࡚⏕ᡂࡍࡿࠋࣇ࢓ࢪ࢕᥎ㄽࡣࡇࡢ⪃࠼᪉ࢆᣑᙇࡋࡓࡶ
ࡢ࡛࠶ࡿࡀ㸪ᬑ㏻ࡢㄽ⌮ⓗ᥎ㄽ࡜␗࡞ࡿⅬࡣ㸪஦ᐇ࡜๓௳㒊࡜ẚ㍑࡟㸪୍⮴ࡍࡿࡲࡓࡣ୍⮴ࡋ࡞
࠸࠿ࡢ 2 ್ㄽ⌮࡛ࡣ࡞ࡃ㸪᭕᫕ᛶࡢ࠶ࡿࣇ࢓ࢪ࢕ㄽ⌮ࢆ౑࠺ࡇ࡜࡛࠶ࡿࠋ࡞࠾㸪ᢳฟࡢࡓࡵࡢ⏬
ീฎ⌮࣭⏬ീㄆ㆑ࢩࢫࢸ࣒ࡢ㛤Ⓨ࡟ࡣ㸪C ゝㄒࣛ࢖ࣈ࡛ࣛࣜ࠶ࡿ OpenCV ࢆ౑⏝ࡍࡿࠋղࣇ࢓ࢪ࢕࣮ࣝࣝ
㧗㏿㐨㊰࡛㐠㌿ࡍࡿ࡜ࡁ࡟ࡣ㸪ᖖ࡟㐨㊰ᶆ㆑㸪௚㌴୧㸪㉮⾜๓᪉ࢆὀどࡍࡿᚲせࡀ࠶ࡿࡓࡵ㸪ࢻࣛ࢖ࣂࡢど⥺࡜ὀどࡍ࡭ࡁᑐ㇟࡜ࡢ࣮ࣘࢡࣜࢵࢻ㊥㞳㸪ࢻࣛ࢖ࣂࡢど⥺࡜㉮⾜ࡋ࡚࠸ࡿ㌴⥺ࡢ๓᪉㐲Ⅼ࡜ࡢ࣮ࣘࢡࣜࢵࢻ㊥㞳, ▐ࡁ⋡(1 ศ㛫ᙜࡓࡾࡢ▐ࡁᅇᩘ) ࡢ␗ᖖࡢ᭷↓࡜࠸࠺୕ࡘࡢ
᝟ሗࢆࣇ࢓ࢪ࢕᥎ㄽࡢධຊࣃ࣓࣮ࣛࢱ࡟⏝࠸ࡓࠋḟ࡟㸪᥎ㄽᑐ㇟࡜࡞ࡿ㐠㌿㞟୰ᗘࢆ௨ୗࡢࡼ࠺࡟ᐃ⩏ࡍࡿࠋ▐ࡁ⋡ࡢ␗ᖖࡀ↓࠸, ࠿ࡘ㉮⾜㌴⥺๓᪉࡟ὀどᑐ㇟ࡀ࡞࠸࡜ࡁࡣ㸪ࡑࡢ㉮⾜㌴⥺๓᪉ࢆὀどࡍࡿሙྜ㸪㞟୰ᗘࢆ 8 ࡜ࡍࡿࠋࡇࡢ᪉ྥ࡟ὀどᑐ㇟ࡀ࠶ࡿሙྜࡶ㸪ᙜ↛㸪ど㔝ෆ࡟ὀどᑐ㇟ࡀ࠶ࡿ
ࡢ࡛㸪㐠㌿㞟୰ᗘࡣ⥔ᣢࡉࢀࡿ࡜௬ᐃ࡛ࡁࡿࡓࡵ㸪㞟୰ᗘࢆ 8 ࡜ࡍࡿࠋ୍᪉㸪▐ࡁ⋡ࡢ␗ᖖࡀ᭷

- 97 -

ࡾ㸪࠿ࡘࡑࡢ㉮⾜㌴⥺๓᪉࠾ࡼࡧὀどᑐ㇟ࡢ࠸ࡎࢀࡶὀどࡋ࡞࠸ሙྜ㸪᫂ࡽ࠿࡟㐠㌿࡟㞟୰ࡋ࡚࠸࡞࠸ࡓࡵ㸪㞟୰ᗘࢆ 1 ࡜ࡍࡿࠋ⾲ 6-3-1 ࡟ᮏ◊✲࡛ᥦ᱌ࡋࡓ 8 ࡘࡢࣇ࢓ࢪ࢕࣮ࣝࣝࢆ♧ࡍࠋ⾲ ᥦ᱌ࡍࡿࣇ࢓ࢪ࢕࣮ࣝࣝ
Antecedent

Consequent

Rule

Input 1

Input 2

Input 3

OutputRule 1

Small

Small

No

8

Rule 2

Small

Small

Yes

6

Rule 3

Small

Large

No

6

Rule 4

Large

Small

No

6

Rule 5

Small

Large

Yes

3

Rule 6

Large

Large

No

3

Rule 7

Large

Small

Yes

3

Rule 8

Large

Large

Yes

1

Input 1: Angle of gaze point and targeted object
Input 2: Angle of gaze point and far point
Input 3: Abnormal eyes blinking
Output: Level of driving attentivenessճ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘ࡜ࡣ㸪ࣇ࢓ࢪ࢕㞟ྜࡢせ⣲ࡀࡑࡢ㞟ྜ࡟ᒓࡍࡿᗘྜ࠸ࢆ⾲ࡍ㛵ᩘ࡛࠶ࡿࠋ
0 ࠿ࡽ 1 ࡢ㛫ࡢ௵ពࡢᐇᩘ್ࢆྲྀࡾᢅ࠼ࡿࠋ0 ࡣࡑࡢせ⣲ࡀࣇ࢓ࢪ࢕㞟ྜ࡟᏶඲࡟ᒓࡉ࡞࠸ࡇ
࡜ࢆ♧ࡋ㸪1 ࡢ࡜ࡁࡣ᏶඲࡟ᒓࡍࡿࡇ࡜ࢆ♧ࡍࠋࣇ࢓ࢪ࢕࣮ࣝࣝ࡟࠾࠸࡚㸪IF ࡛♧ࡉࢀࡿ࣓ࣥ
ࣂ࣮ࢩࢵࣉ㛵ᩘࡢ๓௳㒊㸪THEN ࡛♧ࡉࢀࡿ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘࡢᚋ௳㒊࡜࠸࠺ࠋմ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘࡢタィᮏ◊✲ࡣ㸪ࢻࣛ࢖ࣂࡀ㐠㌿᫬࡟ὀどࡍ࡭ࡁ≀యࢆὀどࡍࡿ࠿㸪ᖖ࡟㉮⾜㌴⥺ࡢ๓᪉࡬ࡢὀពࢆ
ࡍࡿ࠿࡜࠸࠺᭕᫕࡞࿨㢟ࢆ㸪ᐃ㔞ⓗ࡟⾲⌧ࡍࡿᚲせࡀ࠶ࡿࠋࡑࡢࡓࡵ㸪ࢻࣛ࢖ࣂࡢど⥺࡜ὀどࡍ࡭ࡁ≀య࡜ࡢゅᗘ࠾ࡼࡧど⥺࡜㉮⾜㌴⥺๓᪉ᾘኻⅬ࡜ࡢゅᗘ࡟ࡼࡾ㸪ࣇ࢓ࢪ࢕㞟ྜࡢ࣓ࣥࣂ࣮ࢩ
ࢵࣉ㛵ᩘࢆỴᐃࡍࡿࠋࡲࡓ㸪㐠㌿㞟୰ᗘࡢ᥎ㄽ⤖ᯝࢆⰋࡃࡍࡿࡓࡵ࡟㸪▐ࡁኚ໬ࡶ⪃៖ࡋ㸪ࣇ࢓ࢪ࢕᥎ㄽࡢ୍ࡘࡢࣃ࣓࣮ࣛࢱ࡜ࡋ࡚ຍ࠼ࡓࠋ
ࡲࡓ㸪ࢻࣛ࢖ࣂࡢὀど≉ᛶࢆᢕᥱࡍࡿࡓࡵ࡟㸪㐠㌿᫬ࡢ᭷ຠど㔝࡟ࡘ࠸࡚ࡶ᳨ドࡋࡓࠋே㛫ࡢど㔝ࡣᶓ᪉ྥ࡛ 180㹼210[deg] ࡢᗈࡀࡾࢆᣢࡘࡀ㸪ゎീᗘࡢ㧗࠸୰ᚰどࡣ⣙ 2[deg] ࡟㐣ࡂ࡞࠸ࠋࡇࡢ⠊ᅖࡣ⥙⭷ᵓ㐀࡟つᐃࡉࢀ࡚࠸ࡿࠋ௚᪉㸪ᅗ 6-3-2 ࡟♧ࡍ᭷ຠど㔝ࡍ࡞ࢃࡕ୰ᚰどࡢ࿘ࡾ࡛- 98 -

ẚ㍑ⓗ᫂░࡟ㄆ▱࡛ࡁࡿ⠊ᅖࡣ㸪⣙ 4㹼20[deg]ࡢ⠊ᅖ࡛࠶ࡿࠋࡑࡇ࡛㸪ᮏ◊✲࡛ࡣ㸪ୖ㏙ࡋࡓ᭷
ຠど㔝࡟ᇶ࡙࠸࡚㸪ࣇ࢓ࢪ࢕᥎ㄽࡢධຊࣃ࣓࣮ࣛࢱ 1 ࡜ 2 ࡢ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘࡢ P ࡜ Q ࡢ್ࢆタᐃࡍࡿࠋࡓࡔࡋ㸪ඛ⾜◊✲ࡢど⥺᥎ᐃㄗᕪࡀ 2[deg] ࡛࠶ࡿࡓࡵ㸪ࡑࡢㄗᕪࢆ⪃៖ࡋ㸪P ࢆ
6[deg]㸪Q ࢆ 22[deg] ࡟ࡍࡿࠋᅗ ࣄࢺࡢ᭷ຠど㔝ࡉࡽ࡟㸪ᇶᮏⓗ࡞▐ࡁࡢኚ໬࡜㞟୰ᗘపୗࡢ㛵㐃ᛶࢆㄪᰝࡋࡓࠋࡑࡢࡓࡵ࡟㸪ࢻࣛ࢖ࣅࣥࢢࢩ
࣑࣮ࣗࣞࢱࢆ⏝࠸࡚㸪ᚋ㏙ࡢෆᐜ࡛⿕㦂⪅ᐇ㦂ࢆ⾜ࡗࡓࠋ࡞࠾㸪ᮏ◊✲࡟࠾ࡅࡿ⿕㦂⪅ᐇ㦂ࡣ㸪㇏ᶫᢏ⾡⛉Ꮫ኱Ꮫࠕࣄࢺࢆᑐ㇟࡜ࡍࡿ◊✲つᐃࠖ࡟ࡶ࡜࡙ࡃᐇ㦂ィ⏬ࡢᑂᰝ࣭ᢎㄆࢆᚓ࡚࠸ࡿࠋ
ࡲࡓ⿕㦂⪅ࡣ㸪೺ᗣ࡞ᡂே⏨ᛶ 2 ྡ࡛࠶ࡾ㸪ࡑࢀࡒࢀ࡟༑ศ࡞ᐇ㦂ㄝ᫂ࢆ⾜࠸㸪࢖ࣥࣇ࢛࣮࣒ࢻ
ࢥࣥࢭࣥࢺࢆᚓ࡚࠸ࡿࠋᐇ㦂᫬㛫ࡣ 15 ศ࡛࠶ࡿࠋࡓࡔࡋ㸪⿕㦂⪅ 1 ࡢሙྜࡣ 10 ศ࡛࠶ࡿࠋࡑ
ࡢ㛫࡟㸪ィ 3 ᅇࡢࢱࢫࢡࢆ⿕㦂⪅࡟୚࠼ࡓࠋࢱࢫࢡ࡜ࡣ㸪⿕㦂⪅ࡀ㐠㌿୰࡟㞟୰ຊࢆపୗࡉࡏࡿ
ࡓࡵࡢ 2 ᱆ࡢ㊊ࡋ⟬࡛࠶ࡿࠋ౛࠼ࡤ㸪25 ࠿ࡽ 32 ࡲ࡛ࡢ㊊ࡋ⟬ࢆኌฟࡉࡎ࡟ᬯ⟬ࡋゎ⟅ࡍࡿ࡜࠸࠺ࢱࢫࢡ࡛࠶ࡿࠋᅗ 6-3-3 ࡟⿕㦂⪅ࡢ▐ࡁ⤖ᯝࡢ౛ࢆ♧ࡍࠋᅗ ⿕㦂⪅ࡢ▐ࡁᅇᩘࡢィ ౛࡞࠾㸪ࢢࣛࣇࡢᶓ㍈ࡣࣇ࣮࣒ࣞᩘ[frame]㸪⦪㍈ࡣ㐣ཤ 60 [sec]ࡢ▐ࡁᅇᩘࡢྜィࢆ⾲ࡍࠋࢢ࣮ࣞⰍࡢ༊㛫ࡣࢱࢫࢡࡀ୚࠼ࡽࢀࡓ༊㛫ࢆ⾲ࡍࠋ㢦ࡢ᧜ᙳ⏝ࡢ࣓࢝ࣛࡢࣇ࣮࣒࣮ࣞࣞࢺࡣ 30[fps]࡛࠶ࡿࠋᐇ㦂ࡢ⤖ᯝ࡟ࡼࡾ㸪ࢱࢫࢡࡀ୚࠼ࡽࢀ࡚࠸࡞࠸᫬࡜୚࠼ࡽࢀ࡚࠸ࡿ᫬ࡢ▐ࡁ࡟ኚ໬ࡀ࠶ࡿࡇ࡜ࡀぢࡽࢀࡓࠋࢱࢫࢡࢆゎ࠸࡚࠸ࡿ⿕㦂⪅ࡢ▐ࡁᅇᩘࡣቑຍࡋࡘࡘ࠶ࡿࡇ࡜ࡀศ࠿ࡗࡓࠋࡲ
ࡓ㸪ࢱࢫࢡࡀ୚࠼ࡽࢀࡓ᫬࡟㸪㏿࠸ 2 ᅇ㐃⥆ࡢ▐ࡁࡀ㉳ࡁࡿ࡜࠸࠺ഴྥࡀ࠶ࡿࡇ࡜ࡀぢࡽࢀࡓࠋࡑࡢ⤖ᯝࢆᅗ 6-3-4 ࡟♧ࡍࠋ- 99 -ᅗ 㐃⥆ࡍࡿ▐ࡁࡢィ ౛௨ୖࡢ⤖ᯝ࡟ࡶ࡜࡙ࡁ㸪ࣇ࢓ࢪ࢕᥎ㄽࡢධຊ 1 ࡜ධຊ 2 ࡢ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘࢆ(1) ᘧ࡜(2)ᘧ࡟♧ࡍࡼ࠺࡟タィࡍࡿࠋࡲࡓ㸪⿕㦂⪅ᐇ㦂ࡢ⤖ᯝ࡟ࡼࡾ㸪ࣇ࢓ࢪ࢕᥎ㄽࡢධຊ 3 ࡟㛵ࡍࡿ࣓ࣥࣂ࣮ࢩࢵࣉ㛵ᩘࢆ(3) ᘧ࡟♧ࡍࡼ࠺࡟タィࡍࡿࠋ­ 1°° Q  D®
°Q  P
¯° 0

PD

­ 1
°° E  P®
°Q  P°¯ 0­ 1°J  S®
°T  S¯ 0PE

PJ0D  PP D Q  1
Q D0E PPE Q  2
QE0J  SS J T  3
T J㸦㸱㸧ࡲ࡜ࡵ
ᮏ◊✲࡛ࡣ㸪ࢻࣛ࢖ࣂࡢど⥺࡜ὀどᑐ㇟఩⨨㸪▐ࡁ⋡ࡢኚ໬ࢆィ ࡋ㸪ࢻࣛ࢖ࣂࡢ㐠㌿㞟୰ᗘࢆࣇ࢓ࢪ࢕᥎ㄽ࡟ࡼࡾ᥎ᐃࡍࡿࢩࢫࢸ࣒ࢆసᡂࡋࡓࠋࡲࡓ㸪㐠㌿᫬ࡢ▐ࡁ⋡ኚ໬ࢆධຊࣃ࣓࣮ࣛ
ࢱ࡜ࡋ࡚ᚑ᮶ࡢࣇ࢓ࢪ࢕᥎ㄽ࡟ຍ࠼ࡿࡇ࡜࡟ࡼࡾ㸪㐠㌿㞟୰ᗘࡢ᥎ᐃ⤖ᯝࡢᨵၿࡀぢ㎸ࡵࡿࠋ㸦୕Ꮿ ဴኵ㸪❶ ᛅ㸪௒ᮧ Ꮥ㸪Elvin Tiong Chew Lun㸧㸴㸫㸲◊✲Ⓨ⾲ᐇ⦼㸪௒ᚋࡢㄢ㢟ᮏ◊✲ࢸ࣮࣐࡟ࡘ࠸࡚ࡣ㸪ᖹᡂ 25 ᖺᗘ࡟࠾࠸࡚㸪௨ୗࡢ◊✲Ⓨ⾲ࢆ⾜ࡗࡓࠋ‫ڦ‬Ꮫ⾡ㄽᩥᢞ✏
1.

Md Rizal Othman, Zhong Zhang, Hajime Suzuki, Takashi Imamura and Tetsuo Miyake䠈Development of A Driver Inattention Detection System Using Dynamic Relational
Network䠈International Journal of innovative Computing Information and Control,
accepted- 100 -

2.

Z. Zhang, H, Ishii. T. Imamura, and T. Miyake, Development of Real-time Abnormal
Sound Diagnosis System Using Fast Wavelet Instantaneous Correction, ICIC Express
Letters, Part B: Applications, Vol.5, No.1, pp.201-206, 2014.

3.

T. Akiduki, Z. Zhang, T. Imamura, and H. Takahashi, Toward Symbolization of Human
Motion Data --Time-Series Clustering in Symbol Space--, ICIC Express Letters, Part B:
Applications, Vol.5, No.2, pp.387--392, 2014.

4.

Tetsuo Miyake, Takuya Matsumoto, Takashi Imamura and Zhong Zhang, Early
Detection of Drowsiness based on Facial Expressions in Keeping Awake, ICIC Express
Letters, Vol.8, No.2, pp.591--596, 2014‫ڦ‬ᅜ㝿Ꮫ఍ㄽᩥⓎ⾲
1.

Zhong Zhang, Yuki Asakawa, Takashi Imamura and Tetsuo Miyake, Experiment Designfor Measuring Driver Reaction Time in Driving Situation, Proc. of the 2013
International Conference on System, Man and Cybernetics(SMC2013, Manchester,
14-16 Oct, 2013), pp.3699-3703.

2.

Takashi Imamura, Tomonari Ogi, Zhong Zhang and Tetsuo Miyake, Study of inductionand estimation method for driver's intention by using a driving simulator, Proc. of the2013 International Conference on System, Man and Cybernetics(SMC2013, Manchester,
14-16 Oct, 2013), pp.3322-3326.

3.

Takashi Imamura, Tomonari Ogi, Elvin Tiong Chew Lun, Zhong Zhang and
Tetsuo Miyake, Trial Study of Traffic Safety Education for High School Students
using Driving Simulator, Proc. of the 2013 International Conference on System, Man andCybernetics(SMC2013, Manchester, 14-16 Oct, 2013), pp.4606-4611.

‫ڦ‬ᅜෆᏛ఍Ⓨ⾲1.

ῦᕝ♸ᶞ㸪❶ ᛅ㸪௒ᮧ Ꮥ㸪୕Ꮿဴኵ㸪ࢻࣛ࢖ࣂࡢ㐠㌿୰࡟࠾ࡅࡿ཯ᛂ᫬㛫ィ ࡜ࡑࡢホ౯㸪᪥ ᮏ ᶵ Ე Ꮫ ఍ ࣟ ࣎ ࢸ ࢕ ࢡ ࢫ ࣭ ࣓ ࢝ ࢺ ࣟ ࢽ ࢡ ࢫ 㒊 㛛 ㅮ ₇ ఍ 2013 㸦 Robomec2013 㸧㸪㸦2013.05.23-24㸧
㸪pp.2P1-G06(1)-2P1-G06(4)2.

ᒾᮏᣅ㤿㸪௒ᮧ Ꮥ㸪❶ ᛅ㸪୕Ꮿဴኵ㸪ࣁࣥࢻࣝࢭࣥࢧࢆ⏝࠸ࡓᢕᣢᅽຊ࡜஌㌴ጼໃࡢ㛵ಀゎᯒ㸪᪥ᮏᶵᲔᏛ఍ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽࢡࢫ㒊㛛ㅮ₇఍ 2013㸦Robomec2013㸧㸪
㸦2013.05.23-24㸧
㸪pp.2P1-G07(1)-2P1-G07(4)3.

௒ᮧ Ꮥ㸪Ⲷ ᬛᡂ㸪Elvin Tiong Chow Lun㸪❶ ᛅ㸪୕Ꮿဴኵ㸪㧗ᰯ⏕ࢆᑐ㇟࡜ࡋࡓࢻࣛ࢖
ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱࢆ⏝࠸ࡓ஺㏻Ᏻ඲ᩍ⫱ࡢヨࡳ㸪᪥ᮏᶵᲔᏛ఍ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽ
ࢡࢫ㒊㛛ㅮ₇఍ 2013㸦Robomec2013㸧
㸪㸦2013.05.23-24㸧
㸪pp.2P1-P07(1)-2P1-P07(4)4.

ᕝ㔝཭⿱㸪❶ ᛅ㸪௒ᮧ Ꮥ㸪୕Ꮿဴኵ㸪୧⪥⫈㡢※᪉ྥᐃ఩ᡭἲࡢ⤫ྜ࢖ࣥࢱࣇ࢙࣮ࢫ࡬ࡢ
ᛂ⏝㸪 ➨ 56 ᅇ⮬ືไᚚ㐃ྜㅮ₇఍㸪㸦2013.11.16-17㸧
㸪pp.647-650

5.

⛅᭶ᣅ☻㸪❶ ᛅ㸪௒ᮧ Ꮥ㸪㧗ᶫᘯẆ㸪㌶㐨࢔ࢺࣛࢡࢱ࡟ࡼࡿ㐠ື᫬⣔ิࡢグྕ໬ᡭἲࡢ᳨

- 101 -ウ㸪➨ 56 ᅇ⮬ືไᚚ㐃ྜㅮ₇఍㸪㸦2013.11.16-17㸧
㸪pp.1650-1653
6.

㤶ᕝுኴ㸪❶ ᛅ㸪୕Ꮿဴኵ㸪௒ᮧ Ꮥ㸪஺ᕪⅬྑᕥᢡ᫬࡟࠾ࡅࡿࢻࣛ࢖ࣂࡢ㐠㌿⾜ືゎᯒ㸪ィ ⮬ືไᚚᏛ఍୰㒊ᨭ㒊࣮࢜ࣉ࣭ࣥࣛ࣎ⱝᡭ◊✲Ⓨ⾲఍㸪㸦2013.11.28㸧

7.

బࠎᮌ኱៞㸪❶ ᛅ㸪୕Ꮿဴኵ㸪௒ᮧ Ꮥ㸪ࣂࢫ⏝ࢻࣛ࢖ࣈࣞࢥ࣮ࢲࡢ㛤Ⓨ࡜ࢹ࣮ࢱゎᯒ㸪ィ⮬ືไᚚᏛ఍୰㒊ᨭ㒊࣮࢜ࣉ࣭ࣥࣛ࣎ⱝᡭ◊✲Ⓨ⾲఍࣭㸦2013.11.28㸧

8.

▼ᕝᬛつ㸪୕Ꮿဴኵ㸪❶ ᛅ㸪௒ᮧ Ꮥ㸪ࢻࣛ࢖ࣂࡢど⥺ィ ࡢ㧗⢭ᗘ໬㸪ィ ⮬ືไᚚᏛ఍
୰㒊ᨭ㒊࣮࢜ࣉ࣭ࣥࣛ࣎ⱝᡭ◊✲Ⓨ⾲఍㸪㸦2013.11.28㸧

ᮏሗ࿌࡟♧ࡋࡓࡼ࠺࡟㸪ࢻࣛ࢖ࣂィ ࡟㛵ࡍࡿᇶ♏ᢏ⾡ࡢᵓ⠏࡜ࡑࡢᐇ㦂࣭ᐇドࢆ㐍ࡵ࡚࠸ࡿࠋࡲࡓ㸪㐠㌿ࣉࣛࢵࢺࣇ࢛࣮࣒ࢆ㏣ຍࡋࡓࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱ࡟࠾࠸࡚㸪ᮏ᱁ⓗ࡞㐠㌿⎔ቃࢆᐇ⌧ࡋ㸪ࡇࢀࢆ⏝࠸ࡓ⿕㦂⪅ᐇ㦂ࡶ㝶᫬ᐇ᪋ࡋ࡚࠸ࡿࠋ௒ᚋ㸪ᮏሗ࿌࡛♧ࡋࡓྛᇶ♏
ᢏ⾡࡟ࡘ࠸࡚㸪ࢻࣛ࢖ࣅࣥࢢࢩ࣑࣮ࣗࣞࢱ࡬ࡢᐇ⿦ࢆຍ㏿໬ࡋ㸪ᐇドࢩࢫࢸ࣒ࡢᵓ⠏ࢆ᪩ᮇ࡟ᐇ⌧ࡍࡿࡇ࡜ࡀᙜ㠃ࡢㄢ㢟࡛࠶ࡿࠋཧ⪃ᩥ⊩(6-1) ࢻࣛ࢖ࣈࣞࢥ࣮ࢲ࡟ࡼࡿ஦ᨾ㜵Ṇ࣐ࢽࣗ࢔ࣝᫎീグ㘓ᆺࢻࣛ࢖ࣈࣞࢥ࣮ࢲά⏝ᡭ㡰᭩㸪
http://www.mlit.go.jp/jidosha/anzen/03driverec/resourse/data/order.pdf㸪ᅜᅵ஺㏻┬ ⮬ື㌴஺㏻ᒁ (2009.10)(6-2) ⮬ື㌴㐠㏦஦ᴗ⪅ࡀ஦ᴗ⏝⮬ື㌴ࡢ㐠㌿⪅࡟ᑐࡋ࡚⾜࠺୍⯡ⓗ࡞ᣦᑟཬࡧ┘╩ࡢᐇ᪋࣐ࢽ
ࣗ࢔ࣝ㸺➨ 1 ⦅ ᇶ♏⦅㸼㸪
http://www.mlit.go.jp/jidosha/anzen/03safety/resourse/data/bus_kiso.pdf 㸪 ᅜ ᅵ ஺ ㏻ ┬ 㸪(2012.4.10)(6-3) ஂಖⓏ㸪᳃ࡳ࡝ࡾ㸪ࢻࣛ࢖ࣈࣞࢥ࣮ࢲ࣮ࢹ࣮ࢱࡢຠ⋡ⓗ࡞⮬ືศ㢮ᡭἲ㸪᪥ᮏᶵᲔᏛ఍ㄽ
ᩥ㞟 77 ᕳ 778 ྕ㸪pp.338 – 353 (2011-6)(6-4) 㔝ᓮᩗ⟇㸪ᆅᇦ ITS ࡢືྥ࡜ᑗ᮶㸪᝟ሗฎ⌮Ꮫ఍◊✲ሗ࿌㸪ࣔࣂ࢖ࣝࢥࣥࣆ࣮ࣗࢸ࢕ࣥࢢ
࡜ࣘࣅ࢟ࢱࢫ㏻ಙ◊✲఍◊✲ሗ࿌㸪2011-MBL-60(20)㸪1-11㸪(2011)- 102 -