自動運転制御におけるリスク感の指標化

（先行車追従時の周辺車両の影響）

抄録

Risk feeling perceived by a driver against autonomous driving control is an important factor in control design which brings appropriate securing trust to the driver. Since risk feeling depends on the sensitivity of the driver, an index capable of quantitatively evaluating the risk feeling is desired. In this research, we propose a risk feeling index that takes into consideration the influence of peripheral vehicles when following a preceding vehicle in a single lane. In particular, we focus on the influence of lateral vehicles, and extract the factor of risk feeling in the situation that a lateral vehicle is possibly to change lanes and come forward and that the side vehicle is running sideways. We derive the index from the analysis of the result of experiments using a driving simulator. Also, we demonstrate the effectiveness of the model from the correlation between the estimated value of the model and the experimental value.