Abstract
Advanced mobility and services such as automated driving, CASE, and Mobility as a Service (MaaS) will revolutionize the automotive society and are said to be the once-in-a-century mobility revolution. These changes in social conditions have various effects not only on cars but also on road infrastructure. Further advancement of road space utilization and restructuring of road space to meet diverse needs are being considered. In urban smart cities utilizing MaaS and AI with automated driving technology, etc., it is expected that a variety of activities by people and a variety of moving vehicles such as automated vehicles and personal mobility vehicle (PMV) will be mixed in the road space. When introducing PMV into a road space where pedestrians and vehicles coexist, it is necessary to ensure not only safety but also acceptance of pedestrians. This study proposes a path planning algorithm that is acceptable to pedestrians. The relationship between the vehicle's position and pedestrian acceptability is represented as pedestrian sensitivity model. A path of autonomous vehicle is designed based on pedestrian sensitivity and risk potential models. The effectiveness of the proposed method is evaluated through simulation experiments.
