Japan’s views on Automated Driving : roadmap of automated driving (autonomous car) in Japan, including adas validation, field operational test, connected car / intelligent car technical issues, by Takashi NAONO : 

https://www2.unece.org/wiki/download/attachments/17760916/03_Japan%E2%80%99s%20views%20on%20Automated%20Driving%20rev.pdf?api=v2