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Research is under way to achieve autonomous driving (AD) on urban roads by 2020. This study focused on a right-turn situation at an intersection difficult to navigate even for human drivers. Many accidents have been reported when turning right due to poor visibility of traffic in an oncoming lane. An AD system is being developed that can recognize and avoid a potential risk of accident where another vehicle at an intersection causes poor visibility. The aim is to automate identification of vehicle locations and locations with poor visibility as well as decisions as to whether to decelerate, accelerate, or stop. As solutions, an obstacle detection frame (ODF) was created to identify the locations of other vehicles and a visibility detection frame (VDF) was created to identify the locations of blind spots. Detection frames are defined in an internal intersection map in the AD system.