Abstract
The new mobility vehicles for individual usage called personal mobility vehicles (PMVs) are expected to be developed these days in terms of protection of the environment, support for an aging society and ensuring the right to mobility. For example, an inverted pendulum vehicle is one of the convenient vehicles used in pedestrian space. It is necessary for such a PMV used in pedestrian area to ensure pedestrian safety and comfort. In this study, in order to realize the behavior of a PMV to be friendly to a pedestrian, the driving assist system considering the personal space of a surrounding pedestrian is investigated. In this paper, as a basic study, we propose the behavior model of a PMV considering the personal space of a pedestrian. In the simulation, the affinity between a PMV and a pedestrian is evaluated. It was found that in the case that the personal space of a PMV is smaller than that of a pedestrian, the driving of PMV considering personal space of a pedestrian was effective. The level of the effectiveness was changed according to the width of a PMV. It was also found that the road width affects the effectiveness. When the road width is 2 [m], it is difficult to secure space of avoidance so that the effect of the PMV driving considering a pedestrian's personal space is limited. On the other hand, when the road width is 3 [m], the effect was more clearly confirmed.
