JPH0344029A - Etching method of compound semiconductor - Google Patents
Etching method of compound semiconductorInfo
- Publication number
- JPH0344029A JPH0344029A JP17806189A JP17806189A JPH0344029A JP H0344029 A JPH0344029 A JP H0344029A JP 17806189 A JP17806189 A JP 17806189A JP 17806189 A JP17806189 A JP 17806189A JP H0344029 A JPH0344029 A JP H0344029A
- Authority
- JP
- Japan
- Prior art keywords
- compound semiconductor
- mask
- wsi
- heat treatment
- film
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000004065 semiconductor Substances 0.000 title claims abstract description 20
- 150000001875 compounds Chemical class 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005530 etching Methods 0.000 title claims description 19
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims abstract description 18
- 238000010438 heat treatment Methods 0.000 claims abstract description 8
- 229910052814 silicon oxide Inorganic materials 0.000 claims abstract description 5
- 238000002844 melting Methods 0.000 claims abstract description 3
- 230000008018 melting Effects 0.000 claims abstract description 3
- 229910052751 metal Inorganic materials 0.000 claims abstract description 3
- 239000002184 metal Substances 0.000 claims abstract description 3
- 239000003870 refractory metal Substances 0.000 claims description 3
- 239000010409 thin film Substances 0.000 claims 3
- 239000010408 film Substances 0.000 claims 1
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 abstract description 9
- 229910001218 Gallium arsenide Inorganic materials 0.000 abstract description 9
- 235000012239 silicon dioxide Nutrition 0.000 abstract description 7
- 239000000377 silicon dioxide Substances 0.000 abstract description 7
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 abstract description 4
- 229910052681 coesite Inorganic materials 0.000 abstract description 4
- 229910052906 cristobalite Inorganic materials 0.000 abstract description 4
- 239000001301 oxygen Substances 0.000 abstract description 4
- 229910052760 oxygen Inorganic materials 0.000 abstract description 4
- 238000000206 photolithography Methods 0.000 abstract description 4
- 229920002120 photoresistant polymer Polymers 0.000 abstract description 4
- 229910052682 stishovite Inorganic materials 0.000 abstract description 4
- TXEYQDLBPFQVAA-UHFFFAOYSA-N tetrafluoromethane Chemical compound FC(F)(F)F TXEYQDLBPFQVAA-UHFFFAOYSA-N 0.000 abstract description 4
- 229910052905 tridymite Inorganic materials 0.000 abstract description 4
- 238000001312 dry etching Methods 0.000 abstract description 3
- 239000007789 gas Substances 0.000 abstract description 3
- WNUPENMBHHEARK-UHFFFAOYSA-N silicon tungsten Chemical compound [Si].[W] WNUPENMBHHEARK-UHFFFAOYSA-N 0.000 abstract description 3
- 238000004544 sputter deposition Methods 0.000 abstract description 2
- 238000000151 deposition Methods 0.000 abstract 1
- 230000008021 deposition Effects 0.000 abstract 1
- 230000001590 oxidative effect Effects 0.000 abstract 1
- 239000000126 substance Substances 0.000 abstract 1
- QAOWNCQODCNURD-UHFFFAOYSA-N Sulfuric acid Chemical compound OS(O)(=O)=O QAOWNCQODCNURD-UHFFFAOYSA-N 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005229 chemical vapour deposition Methods 0.000 description 2
- AJNVQOSZGJRYEI-UHFFFAOYSA-N digallium;oxygen(2-) Chemical compound [O-2].[O-2].[O-2].[Ga+3].[Ga+3] AJNVQOSZGJRYEI-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005669 field effect Effects 0.000 description 2
- 229910001195 gallium oxide Inorganic materials 0.000 description 2
- VXEGSRKPIUDPQT-UHFFFAOYSA-N 4-[4-(4-methoxyphenyl)piperazin-1-yl]aniline Chemical compound C1=CC(OC)=CC=C1N1CCN(C=2C=CC(N)=CC=2)CC1 VXEGSRKPIUDPQT-UHFFFAOYSA-N 0.000 description 1
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 1
- GPXJNWSHGFTCBW-UHFFFAOYSA-N Indium phosphide Chemical compound [In]#P GPXJNWSHGFTCBW-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000005049 silicon tetrachloride Substances 0.000 description 1
- 238000000859 sublimation Methods 0.000 description 1
- 230000008022 sublimation Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- WQJQOUPTWCFRMM-UHFFFAOYSA-N tungsten disilicide Chemical compound [Si]#[W]#[Si] WQJQOUPTWCFRMM-UHFFFAOYSA-N 0.000 description 1
- 229910021342 tungsten silicide Inorganic materials 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000001039 wet etching Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
本発明は、化合物半導体のエツチングに関し、特に、τ
6速1−ランジスタやレーザの製造過程に生ずる微細な
エツチングパターンを形成する化合物半導体のエツチン
グ方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to etching of compound semiconductors, and in particular, to etching of compound semiconductors.
This invention relates to a compound semiconductor etching method for forming fine etching patterns that occur in the manufacturing process of six-speed 1-transistors and lasers.
(従来の技術)
化合物半導体を用いた各押装置の製造過程には、基板の
表面の一部を削り取る手法がよく用いられる。例えば、
ガリウムヒ素やインジウムリンなどのn導電形エピタキ
シャル層板を用いて電界効果形1〜ランジスタを形成す
る場合、素子間の分離は、硫酸、過酸化水素および水の
成分比が、例えば5:1:30のエツチング溶液を用い
てウェットエツチングや四塩化ケイ素(S x CQ
4 )および四フッ化炭素(以下CF4と称す)の成分
比を、例えば30:5にしたエツチングガスを用いたド
ライエツチングによりエピタキシャル層の一部で削り取
っている。(Prior Art) In the manufacturing process of each pressing device using a compound semiconductor, a method of scraping off a part of the surface of a substrate is often used. for example,
When forming a field effect transistor 1 to transistor using an n-conducting epitaxial layer plate of gallium arsenide, indium phosphide, etc., the separation between elements is achieved by setting the component ratio of sulfuric acid, hydrogen peroxide, and water to, for example, 5:1: Wet etching and silicon tetrachloride (S x CQ
4) and carbon tetrafluoride (hereinafter referred to as CF4), a part of the epitaxial layer is removed by dry etching using an etching gas having a component ratio of, for example, 30:5.
また、リセス構造電界効果トランジスタの場合、ゲート
電極の部分を同様な手法でエツチングをして溝を形成す
る。さらには、半導体レーザの形成においても、レーザ
発振部となるエピタキシャル成長層を筋状台地形にエツ
チングを行う。In the case of a recessed field effect transistor, the gate electrode portion is etched using a similar method to form a groove. Furthermore, in the formation of a semiconductor laser, the epitaxial growth layer that will become the laser oscillation section is etched into a striated plateau topography.
このように、化合物半導体装置は、その製造工程におい
て基板のエツチングが施されることが多い。As described above, the substrate of a compound semiconductor device is often subjected to etching during its manufacturing process.
この稲の従来の化合物半導体のエツチング方法について
、第3図および第4図により説明する。This conventional method of etching a compound semiconductor of rice will be explained with reference to FIGS. 3 and 4.
第3図および第4図は、それぞれ平坦な表面および段差
が設けられた表面を有する化合物半導体の要部拡大断面
図である。3 and 4 are enlarged cross-sectional views of essential parts of a compound semiconductor having a flat surface and a stepped surface, respectively.
第3図において、ガリウムヒ素基板lの表面にホトレジ
スト膜2を形成し、ホトリソグラフィ技術により、各種
の幅寸法の開口2aを有するマスクを形成する。次に、
例えば硫酸系のエツチング溶液を用い、」二記のホトレ
ジスト膜2をマスクとしてエツチングを行い、ガリウム
ヒ素基板1の表面に各種の幅寸法を有する溝1aを形成
する。In FIG. 3, a photoresist film 2 is formed on the surface of a gallium arsenide substrate 1, and a mask having openings 2a of various widths is formed by photolithography. next,
Etching is performed using, for example, a sulfuric acid-based etching solution and the photoresist film 2 described in "2" as a mask to form grooves 1a having various width dimensions on the surface of the gallium arsenide substrate 1.
第4図に示す従来例が、上述の第3図に示した従来例と
異なる点は、ガリウムヒ素基板lに段差よりが設けられ
ていることである。その他は変わらないので、同じ構成
部には同一符号を付して、そのエツチング方法の詳細に
ついては説明を省略するが、溝1aは、ガリウムヒ素基
板1の上段および下段平坦面に形成される。The conventional example shown in FIG. 4 differs from the conventional example shown in FIG. 3 described above in that a step is provided on the gallium arsenide substrate l. Since the other features are the same, the same components are given the same reference numerals and a detailed explanation of the etching method will be omitted. Grooves 1a are formed in the upper and lower flat surfaces of the gallium arsenide substrate 1.
(発明が解決しようとする課題)
しかしながら、上記の方法では、第3図に示すように、
溝1aの幅寸法が異なる場合には、溝の開口幅によりエ
ツチング溶液の入り方や環り方が異なり、?+1jll
aの深さの開ロ帽依イi性により、開口28幅が狭く
なると溝1aが浅くなる問題があった。(Problem to be solved by the invention) However, in the above method, as shown in FIG.
When the width of the groove 1a is different, the way the etching solution enters and wraps around the groove differs depending on the opening width of the groove. +1jll
Due to the fact that the depth of a depends on the opening of the cap, there is a problem in that the groove 1a becomes shallower when the width of the opening 28 becomes narrower.
また第4図に示すように、段差よりがある場合には、ホ
トリソグラフィ技術でパターンを形成するため、段差1
bの側面には溝を形成することができないという問題が
あった。In addition, as shown in Figure 4, if there is a step difference, the pattern is formed using photolithography technology, so the step difference is
There was a problem in that a groove could not be formed on the side surface of b.
本発明は上記の問題を解決するもので、深さの等しい各
稲幅寸法の溝や段差面の溝を形成する化合物半導体のエ
ツチング方法を提供するものである。The present invention solves the above-mentioned problems and provides a method for etching a compound semiconductor to form grooves of each width dimension and grooves of stepped surfaces having the same depth.
(課題を解決するための手段)
上記の課題を解決するため、本発明は、化合物半導体基
板の表面に高融点金属をマスクとして酸化ケイ素膜を堆
積させた後、高温度で熱処理を施すものである。(Means for Solving the Problems) In order to solve the above problems, the present invention deposits a silicon oxide film on the surface of a compound semiconductor substrate using a high melting point metal as a mask, and then heat-treats it at a high temperature. be.
(作 用)
上記の構成により、熱処理における高温で、酸化ケイ素
の中に含まれる酸素が、化合物半導体基板の低族元素と
結合し、酸化物を形成し、残された高族元素とともに蒸
発する反応が、高融点金属と酸化ケイ素の境界で顕著に
起こり、その結果、凹形の溝が形成される。(Function) With the above configuration, at high temperatures during heat treatment, oxygen contained in silicon oxide combines with lower group elements of the compound semiconductor substrate, forms an oxide, and evaporates together with the remaining higher group elements. The reaction occurs significantly at the interface between the refractory metal and the silicon oxide, resulting in the formation of concave grooves.
(実施例)
本発明の第1の実施例を第1図(a)ないしくd)によ
り説明する。(Example) A first example of the present invention will be described with reference to FIGS. 1(a) to d).
第工図(a)ないしくd)は、本発明による、各種の幅
寸法を有する溝を形成する場合を例としたエツチング方
法を工程順に示す要部拡大断面図である。Figures (a) to d) are enlarged cross-sectional views of main parts showing the etching method according to the present invention in order of steps, taking as an example the case of forming grooves having various width dimensions.
まず、ガリウムヒ素基板1の表面に、スパッタ蒸着等な
どにより、厚さ2000 Aのケイ化タングステン(以
下WSiと称す)層3を形成する(第1図(a))。First, a tungsten silicide (hereinafter referred to as WSi) layer 3 having a thickness of 2000 A is formed on the surface of a gallium arsenide substrate 1 by sputter deposition or the like (FIG. 1(a)).
次に、ホトリソグラフィ技術によってホトレジスタパタ
ーン膜(図示せず)を形成した後、四フッ化炭素(CF
4)と酸素(02)の混合ガスを用いドライエツチンク
を行いWSiマスク膜3aを形成する(第1図(b))
。次にプラズマ化学的気相成長(CVD)法により、全
面に厚さ1000入の二酸化ケイ素(以下、SiO2と
称す)膜4を堆積した後、温度850℃の炉中で15分
間熱処理を行う。ガリウムヒ素ノに板1の低族元素であ
るガリウム(Ga)が、S i O2膜4の中に含まれ
る酸素と結合して酸化ガリウム(Ga20a)となり、
残ったヒ素(As)は、昇華温度が熱処理温度よりはる
かに低いので、蒸発し、同時に酸化ガリウムも除去され
る。上記の酸化作用は、WSiマスク膜3aとSiO2
膜4の境界で促進されるので、境界を中心に溝1aが形
成される。溝1aの幅が広い場合には、それの幅寸法に
応じて、WSiマスク膜3aの開口3bの数が設定され
ている(第1図(C))。最後に、5102膜4および
WSiマスク膜3aを除去すると、ガリウムヒ素基板1
の表面に、各種の幅寸法で深さの揃った溝1aが形成さ
れる(第1図(d))。Next, after forming a photoresist pattern film (not shown) using photolithography technology, carbon tetrafluoride (CF
Dry etching is performed using a mixed gas of 4) and oxygen (02) to form a WSi mask film 3a (FIG. 1(b)).
. Next, a silicon dioxide (hereinafter referred to as SiO2) film 4 having a thickness of 1,000 layers is deposited on the entire surface by plasma chemical vapor deposition (CVD), and then heat treatment is performed in a furnace at a temperature of 850° C. for 15 minutes. Gallium (Ga), which is a low group element of the plate 1, combines with the oxygen contained in the SiO2 film 4 to form gallium oxide (Ga20a),
The remaining arsenic (As) is evaporated because its sublimation temperature is much lower than the heat treatment temperature, and gallium oxide is also removed at the same time. The above oxidation effect is caused by the WSi mask film 3a and SiO2
Since it is promoted at the boundary of the film 4, the groove 1a is formed around the boundary. When the width of the groove 1a is wide, the number of openings 3b in the WSi mask film 3a is set according to the width dimension (FIG. 1(C)). Finally, when the 5102 film 4 and the WSi mask film 3a are removed, the gallium arsenide substrate 1
Grooves 1a with various width dimensions and uniform depth are formed on the surface of the substrate (FIG. 1(d)).
次に、本発明の第2の実施例を第2図(a)ないしくd
)により説明する。Next, a second embodiment of the present invention will be described in FIGS. 2(a) to d.
).
第2図(、)ないしくd)は、本発明により段差面に溝
を形成する場合を例としたエツチング方法を工程類に示
す要部拡大断面図である。第2の実施例が、第1図に一
連で示した第1の実施例と異なる点は、ガリウムヒ素基
板1に段差1bが設けられ、その段差面に溝1aを形成
する点と、ガリウムヒ素基板1の下段表面1cから溝↓
aの中心までの距離に合わせて厚さ2000人のWSi
層3を形成した(第2図(a))点と、W S iマス
ク膜3aを上記の下段表面1cのみに残した(第2図(
b))点と、その後、全面に形成した5jO2膜4の厚
さを4000八にした(第2図(C))点である。その
他は第1の実施例と変わらないで、同し構成部には同一
符号を付した。FIGS. 2(a) to 2(d) are enlarged cross-sectional views of essential parts showing steps of an etching method exemplifying the case of forming grooves on a step surface according to the present invention. The second embodiment is different from the first embodiment shown in series in FIG. Groove from lower surface 1c of board 1 ↓
WSi with a thickness of 2000 people according to the distance to the center of a
The WSi mask film 3a was left only at the point where layer 3 was formed (Fig. 2(a)) and on the lower surface 1c (Fig. 2(a)).
b)) and the point where the thickness of the 5jO2 film 4 formed over the entire surface was set to 4,000 mm (FIG. 2(C)). The rest is the same as in the first embodiment, and the same components are given the same reference numerals.
本実施例では、温度850’C,15分間の熱処理で、
WSiマスク膜3aと5in2膜4の境界が接する段差
面に溝1aが形成されるほかは、第1の実施例と変わら
ない。In this example, heat treatment was performed at a temperature of 850'C for 15 minutes.
This embodiment is the same as the first embodiment except that a groove 1a is formed in the stepped surface where the boundary between the WSi mask film 3a and the 5in2 film 4 is in contact.
なお、第Iの実施例に示すように、幅寸法が0.5/1
+nから2.07zmまで、深さが、0 、5 pmで
均一な溝1aが、また第2の実施例に示すように、段差
面に幅0.57zm、深さ0.5μmの溝1aがそれぞ
れ得られた。In addition, as shown in the first embodiment, the width dimension is 0.5/1
+n to 2.07 zm, there is a uniform groove 1a with a depth of 0.5 pm, and as shown in the second embodiment, a groove 1a with a width of 0.57 zm and a depth of 0.5 μm is formed on the stepped surface. obtained respectively.
(発明の効果)
以上説明したように、本発明によれば、化合物半導体基
板の表面に、溝幅寸法の異なる均一な深さの溝を形成す
ることが可能となる。また、従来不可能であった段差の
側面に溝を形成することも可能となる。(Effects of the Invention) As described above, according to the present invention, it is possible to form grooves of uniform depth and different groove widths on the surface of a compound semiconductor substrate. Furthermore, it becomes possible to form grooves on the side surfaces of steps, which was previously impossible.
第1図(a)〜(d)は本発明の第1の実施例の化合物
半導体のエツチング方法を工程順に示した要部拡大断面
図、第2図(a)〜(d)は本発明の第2の実施例を工
程順に示した要部拡大断面図、第3図および第4図は従
来のエツチング方法を説明するための工程途中の要部拡
大断面図である。
1 ・・ ガリウムヒ素基板、 1a・・・講、1b・
・・段差、 lc・・・下段表面、 2・・・ホト−ジ
ス1〜膜、 2a・・・溝の開口、3 ・・・ケイ化タ
ングステン(WSi)層、3a・・・ケイ化タングステ
ン(WSi)マスク膜、 4 ・・二酸化ケイ素(Si
n2)膜。1(a) to (d) are enlarged cross-sectional views of main parts showing the process order of the compound semiconductor etching method of the first embodiment of the present invention, and FIGS. 2(a) to (d) are FIGS. 3 and 4 are enlarged sectional views of main parts showing the second embodiment in the order of steps, and FIGS. 3 and 4 are enlarged sectional views of main parts in the middle of the process for explaining the conventional etching method. 1... Gallium arsenide substrate, 1a... lecture, 1b...
...Step, lc...Lower stage surface, 2...Photo-diss 1~film, 2a...Groove opening, 3...Tungsten silicide (WSi) layer, 3a...Tungsten silicide ( WSi) mask film, 4...Silicon dioxide (Si
n2) Membrane.
Claims (2)
高融点金属薄膜を形成する工程と、上記の高融点金属薄
膜を含む上記の化合物半導体基板の全表面に酸化ケイ素
膜を形成する工程と、高温度で熱処理を施す工程とから
なる化合物半導体のエッチング方法。(1) forming a patterned refractory metal thin film on the surface of the compound semiconductor substrate; forming a silicon oxide film on the entire surface of the compound semiconductor substrate including the refractory metal thin film; A method for etching compound semiconductors that includes a process of heat treatment at high temperatures.
のみに高融点金属薄膜を形成する工程を有する請求項(
1)記載の化合物半導体のエッチング方法。(2) Claim comprising the step of forming a high melting point metal thin film only on the lower surface of a compound semiconductor substrate having a step on the surface
1) The compound semiconductor etching method described above.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17806189A JPH0344029A (en) | 1989-07-12 | 1989-07-12 | Etching method of compound semiconductor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17806189A JPH0344029A (en) | 1989-07-12 | 1989-07-12 | Etching method of compound semiconductor |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0344029A true JPH0344029A (en) | 1991-02-25 |
Family
ID=16041926
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP17806189A Pending JPH0344029A (en) | 1989-07-12 | 1989-07-12 | Etching method of compound semiconductor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0344029A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5521823A (en) * | 1991-09-03 | 1996-05-28 | Mazda Motor Corporation | Learning control vehicle |
US6205374B1 (en) * | 1993-07-01 | 2001-03-20 | Mazda Motor Corporation | Vehicle characteristic change system and method |
JPWO2006059765A1 (en) * | 2004-12-03 | 2008-06-05 | 学校法人日本大学 | Driving behavior model, its construction method and construction system |
-
1989
- 1989-07-12 JP JP17806189A patent/JPH0344029A/en active Pending
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5521823A (en) * | 1991-09-03 | 1996-05-28 | Mazda Motor Corporation | Learning control vehicle |
US6230084B1 (en) * | 1992-07-01 | 2001-05-08 | Mazda Motor Corporation | Vehicle characteristic change system and method |
US6205374B1 (en) * | 1993-07-01 | 2001-03-20 | Mazda Motor Corporation | Vehicle characteristic change system and method |
JPWO2006059765A1 (en) * | 2004-12-03 | 2008-06-05 | 学校法人日本大学 | Driving behavior model, its construction method and construction system |
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