For realization of new mobility society, not only the problem about automatic driving technology or sensing technology but also approach for various problems except vehicle control is necessary. HMI（ humanmachine interfaces） is important at a level of all automation. While advanced driving assistance system that a human driver cannot do can be realized by automatic driving, the system may adversely affect general traffic. Therefore, an evaluation of receptivity of automatic driving vehicle is an important issue. In this paper, various important issues and prospects to realize new mobility society by automatic driving are described.

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The primary function of roads is to enable traffic, while urban streets and avenues include other various types of functions and intercity highways have specific traffic function. Both the urban streets/avenues and intercity highways are classified into several levels of standards; from higher to lower level. The effective introduction of the automated driving to the different types and the standard levels of roads is discussed mainly for safer road traffic. In addition, possible introduction scenarios and the problems to be addressed in the future are also discussed.

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In recent years, the research of humanoid robots that replace human tasks in emergency situations have been widely studied. Humanoid robot has an advantage that the robot can operate equipment designed for human. The interfaces that map the human motion to the humanoid robot have become popular. However, the humanoid robot and human beings have different joint structure, physical ability and weight balance. It is not practical to map the motion directly. There is also the issue of time delay. Therefore, it is desirable that the operator performs global judgments and the robot runs semi-autonomously in the local environment. In this paper, we propose system to operate the humanoid robot intuitively through Task Model.

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In recent years, by the spread of sharing services of images and videos, we have come to be able to acquire landscape images and vehicle mounted videos of several cities in the world from the Internet. This information will be useful for scene understanding, the three-dimensional model generation of the city and the frequent update of the map, but may provide the wrong information when the data has no correct geographical information. On the other hand, many researchers try to take the information that a human being perceives out of the information about the scene and study on labeling of the scene, but there are few successful methods to identify images taken from plural cities. Therefore, we aim for the global localization of images which are taken in various cities in the world using only the visual information. To this end, we learned the information of each city from a Google street view image and constructed the city identi_cation database, then estimated the city where an inputted image taken from. In ordert to con_rm the effectiveness of proposed methods, we proved it using images acquired from 15 cities and obtained several knowledge.

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This report introduces our activity for preserving the memory of the Great East Japan Earthquake and preventing disasters by our sensing and VR/MR technology. We captured on-vehicle 360-degree videos along the long-distance roads in the coastal area since after the next month of the earthquake every year, and surveyed a ruined town office to make its precise 3D model. With those data and some photos before the earthquake, a virtual space that can represent the situation before/after the earthquake is constructed. A demonstration of the virtual space was also performed in the suffered area, where users can experience the past townscape using MR technology while moving around the town.

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An expressway is closed when visibility distance is within 50m by fog. Expressway is important for transportation. An expressway is an important transportation network. Therefore, Measures to drive safely in dense fog are demanded. An automatic driving system and a high driving support system are considered as the measures. For the effective application of the system, the analysis of driving characteristics in dense fog is important. Then, in this paper, the driver characteristics is analyzed in dense fog using a driving simulator. We analyze the effect of the drivers' characteristics with respect to the change of the visibility distance by fog.

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In this work, we studied vehicle maneuverability of an innovative push-pull steering system. In the past work, we developed a new assisted human powered vehicle with the steering system. There are two ways of steering in this vehicle, and the handling mechanisms are different. One is push-pull steering, and the other is skid-steer. We investigated the feature of both ways of steering from the ergonomics perspective and evaluated vehicle maneuverability of the steering combination. From the experiment, we observed that the combination with skidsteer required less force to steer. Therefore, it is more efficient to steer by the combination of skid-steer and push-pull steering. This article was presented at the JSME TRANSLOG 2015 on December 11, 2015.

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In recent years, traffic congestion and reduction carbon dioxide has become traffic problems. Narrow tilting vehicle has been anticipated as a potential solution to the various traffic problems. For further improvement of Narrow tilting vehicle, we propose a new steering method with a free front wheel that mechanically follows the vehicle body tilting. In this study, we have investigated the effects on the motion of the vehicle by the design of the front wheel caster angle and trail. We used the simulation by multi-body-dynamics as the research method to investigate the effect of the front wheel caster angle and trail. From the results of the study, it was found that （1） the design of the front wheel caster angle can give a significant change to the vehicle turning radius, and （2） the design of the front wheel caster angle and trail affect vehicle steering angle under disturbance on the front wheel. This article was presented at the JSME TRANSLOG 2015 on December 9, 2015.

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Traffic flow rates are not fixed but changed as a probabilistic nature when the traffic congestion occurred at the ordinary bottleneck section like sag sections on Japanese expressways. The probabilistic nature is believed as mainly because of the difference of driving behavior. Data at Yamato-sag section on the westbound of Tomei expressway are acquired via multiple-image processing using the multiple video cameras installed around the section. Car-following model and its parameters are carefully identified and investigated for each vehicle trajectory in the study. Differences in individual drivers are thereby analyzed.

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The Tandem Sorting Strategy （TSS） is an approach to increase capacity in intersections with separate turning phases. Pre-signals are used so that only vehicles in one phase can approach the main signal and use more lanes for discharging. When the green split at the TSS approach exceeds a certain value, TSS efficiency is reduced. This can easily happen when the flows are significantly high in one of the phases. A case study illustrating this situation is presented. TSS is applied to a single approach and the signal parameters are optimized. It was found that TSS has higher capacity compared to No TSS even when the cycle length in TSS is shortened. It means that both capacity increase and delay decrease can be simultaneously achieved with TSS.

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This paper proposes an approximation method of expected delay for signalized arterial roads. This method is based on variational theory of traffic flow （VT）. In VT under stochastic demands, traffic flow dynamics is described as the solution of the stochastic shortest path problem. However, it is difficult to solve exactly. We, thus, propose the approximation method using the following two procedures: （i） solution space reduction based on the characteristics of the shortest path; （ii） Clark approximation. As a result of the experimental comparison with a Monte Carlo simulation, the error of the proposed method is extremely small.

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Vehicle detector is the essential sensor for traffic control systems. These data approaches gradually less accurate, and then vehicle detector often becomes fault. In terms of accuracy, we need detect this anomaly, determine fault of vehicle detectors and take preventive measures for vehicle detectors. Since the vehicle detector is a large number, efficient and effective fault detection methods are needed. In this paper, we propose the fault detection method with the aggregated data, and verify the validity by using the actual data.

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It is important to propose effective methods to prevent accidents at unsignalized intersections. Recently, invehicle traffic lights was proposed based on the development of vehicle-to-vehicle and vehicle-to-infrastructure communication. In our previous work, in-vehicle traffic lights were proposed based on gap acceptance theory, in which the critical gap was set as 6.5 s. In this study, the in-vehicle traffic lights were revised by considering the waiting time of drivers. Experiments were carried out with a driving simulator to evaluate the effectiveness of this method. Results indicated that the steering stability and driving safety could be improved when the invehicle traffic lights considering waiting time were applied.

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Road signs are essential to realize safety and smooth traffic flow. Drivers sometime overlook and miss the sign suggestions because they are concentrating on driving operations. In the literature, many researches focus on providing information via in-vehicle instruments in order to avoid driving burden. However, few researches evaluate effects of such in-vehicle interfaces on the driving behavior. In this study, three ways of providing information, i.e., only with road traffic signs, with road and in-vehicle traffic signs, and with road and another type of in-vehicle traffic signs, are investigated using a driving simulator, and theirs effects on driving behavior are compared.

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An ultra-highly sensitive THz detector CSIP is compared with a commercially available detector MCT to estimate the sensitivity in a condition simulating an actual operating condition. THz light generated by a homemade miniature heater is emitted through a pinhole, collimated with a Ge lens and is incident on each detector. The sensitivity of CSIP is found to be around 300 times higher than MCT. This result is consistent with previously reported value obtained in a cryogenic confined system and demonstrates excellent performance of CSIP also in realistic conditions.

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