• Profile

    Yuki Okafuji received the B.E. and M.E. degrees from Kobe University, Kobe, Japan, in 2014 and 2015, respectively. He is currently working toward the Ph.D. degree at Kobe University in Japan under the supervision of Prof. Yasuyoshi Yokokohji at Kobe University and Prof. Takanori Fukao at Ritsumeikan University. He is also a JSPS research fellow (DC2). He was a visiting research student at Institute for Transport Studies, University of Leeds, the United Kingdom in 2016-2017, and also a visiting researcher at University of Leeds in 2017.


    His research fields are mainly Control Engineering and Perceptual Psychology. In particular, he is interested in driver behaviour between visual information and their steering.


    A study on the integration of Control Engineering and Psychology


    What kind of information do drivers perceive, and what strategy do they use for their driving?


    In order to answer these questions, driver behaviour such as steering input has been analysed through various psychology experiments. On the other hand, we can analyse driver behaviour except under the set experiment environments if a mathematical model of driver model can be constructed. I have constructed driver's mathematical model, and then I have analysed driver behaviour based on the driver's mathematical models. I believe we will be able to answer "What is human-like driving?" because of these approaches. In addition, I have constructed self-driving vehicle systems with high affinity with the driver, which means the system can represent driver behaviour.


    Briefly, it is interesting that we can construct a mathematical model that can represent driver behaviour. My research aim is to find new knowledge through the fusion of both Control Engineering and Perceptual Psychology.

    Optical Flow Control


    Humans can perceive the direction of self-motion based on optic flow, and then they can reach a target point "they want to go" by matching there to the direction of self-motion. We introduced this psychological index into nonlinear control methods. As a result, there is a possibility that Optical Flow Control can be a self-driving system representing human's driving behaviour.



    • April 2007 - March 2012, Associate's Degree, Department of Mechanical and Electrical Engineering, National Institute of Technology, Tokuyama College, Japan
      徳山工業高等専門学校 機械電気工学科
    • April 2012 - March 2014, Bachelor's Degree, Department of Mechanical Engineering, Faculty of Engineering, Kobe University, Japan
      神戸大学 工学部機械工学科
    • April 2014 - September 2015, Master's Degree, Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Japan
      神戸大学 工学研究科機械工学専攻 修士課程
    • October 2015 - Current, Ph. D. Student, Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Japan
      神戸大学 工学研究科機械工学専攻 博士課程
    • April 2016 - Current, Research Student, Graduate School of Science and Engineering, Ritsumeikan University, Japan
      立命館大学 理工学研究科 特別研究学生
    • September 2016 - February 2017, Visiting Research Student, Institute for Transport Studies, Faculty of Environment, University of Leeds, UK


    • June 2017 - November 2017, Visiting Researcher, Institute for Transport Studies, Faculty of Environment, University of Leeds, UK
    • April 2018 - Current, JSPS Research Fellow (DC2)
      日本学術振興会 特別研究員(DC2)


    1. Y. Okafuji, T. Fukao, Y. Yokokohji, H. Inou, “Design of a preview driver model based on optical flow”, IEEE Transaction on Intelligent Vehicles, Vol. 1, No. 3, pp.266-276,2016, DOI: 10.1109/TIV.2017.2658188
    2. Y. Okafuji, T. Fukao, H. Inou, “Development of automatic steering system by modeling human behavior based on optical flow”, Journal of Robotics and Mechatronics, Vol. 27, No. 2, pp.136-145, 2015, DOI: 10.20965/jrm.2015.p0136
    3. 伊能寛,深尾隆則,戸塚誠司,岡藤勇希,”オプティカル・フロー・モデルを利用した操舵制御システムの開発”,自動車技術会論文集,Vol. 46, No. 2, pp.443-448, 2015

    International Conference

    1. Y. Okafuji, C. D. Mole, R. M. Wilkie, N. Merat, “Examining how driver steering behaviour is affected by optic flow after resuming control from a highly automated vehicle, The Human Factors and Ergonomics Society Europe Annual Meeting (HFES Europe), Rome, Italy, September 2017
    2. Y. Okafuji, T. Fukao, Y. Yokokohji, H. Inou, “Optical flow-based control for automatic steering systems”, 2015 IEEE/SICE International Symposium on System Integration (SII2015), Japan, December 2015, DOI: 10.1109/SII.2015.7405027
    3. H. Inou, T. Fukao, S. Totsuka, Y. Okafuji, “Development of Automatic Steering System Based on Optical Flow Model”, 12th International Symposium on Advanced Vehicle Control (AVEC’14), Japan, September 2014

    Technical Report

    1. 岡藤勇希,” 自動/手動運転の切り替わり時におけるオプティックフローに影響されるドライバの操舵特性の解析”, 神戸大学大学院工学研究科・システム情報学研究科紀要,第9号,2017
    2. 伊能寛,深尾隆則,戸塚誠司,岡藤勇希,”オプティカル・フロー・モデルを利用した操舵制御システムの開発”,デンソーテクニカルレビュー,Vol. 20, pp.123-130, 2015

    Domestic Conference (in Japan)

    1. 岡藤勇希,深尾隆則,横小路泰義,伊能寛,”車両の横方向制御の相関に関する考察”,ロボティクス・メカトロニクス講演会 (ROBOMECH2017),2017年5月
    2. 岡藤勇希,深尾隆則,横小路泰義,伊能寛,”オプティカルフローに基づく自動操舵のための実環境計測を考慮したシミュレータ構築”,システム制御情報学会研究発表講演会 (SCI’16),2016年5月
    3. 岡藤勇希,深尾隆則,横小路泰義,伊能寛,”カメラ運動を考慮したオプティカルフローに基づく自動操舵システム”,第58回自動制御講演会,2015年11月
    4. 岡藤勇希,深尾隆則,横小路泰義,伊能寛,”オプティカルフローに基づいた前方注視モデルの理解と応用”,システム制御情報学会研究発表講演会 (SCI’15),2015年5月
    5. 岡藤勇希,深尾隆則,伊能寛,”オプティカルフローに基づいた自動操舵システム”,ロボティクス・メカトロニクス講演会 (ROBOMECH2014),2014年5月

    6. 伊能寛,深尾隆則,戸塚誠司,岡藤勇希,”オプティカル・フロー・モデルを利用した操舵制御システムの開発”,自動車技術会春季講演会,2014年5月



    1. June 2017, Kobe University Outstanding Student Award
    2. May 2016, The Excellent Student Presentation in the 60th Annual Conference of the Institute of Systems, Control, and Information Engineers
      第60回システム制御情報学会研究発表講演会 SCI学生発表賞
    3. May 2016, ISCIE Encouragement Award from the Institute of Systems, Control and Information Engineers
      システム制御情報学会賞 奨励賞
    4. March 2016, Miura Prize (Excellent Postgraduate Student Award) from The Japan Society of Mechanical Engineers
      日本機械学会 三浦賞
    5. December 2015, IEEE/SICE International Symposium on System Integration, Best Paper Award Finalist
    6. March 2014, Isamu Yamashita Prize (Excellent Undergraduate Student Award) from The Japan Institute of Marine Engineering
      日本マリンエンジニアリング学会 山下勇賞


    1. April 2018 - March 2020, JSPS Research Fellowship DC2
      日本学術振興会 特別研究員奨励費(DC2)
    2. September 2016 - February 2017, Kobe University, Graduate School of Engineering, Premium Program
      神戸大学大学院工学研究科 プレミアム・プログラム


    yuki.okafuji [at] stu.kobe-u.ac.jp


    • Complex Mechanical Systems Lab.,  Department of Mechanical Engineering, Graduate School of Engineering, Kobe University
      神戸大学 工学研究科 機械工学専攻 複雑系機械工学研究室
    • Intelligent Vehicle System Lab., Department of Electrical and Electronic Engineering, Graduate School of Science and Engineering, Ritsumeikan University
      立命館大学 理工学部 電気電子工学科 知的ビークル研究室

    Academic Society

    IEEE, The Japan Society of Mechanical Engineers, The Robotics Society of Japan, Society of Automotive Engineers of Japan, The Society of Instrument and Control Engineers, Japanese Cognitive Science Society