Abstract
This paper describes the methodology of environmental risk map construction based on driving personal mobility using LIDARs. First, an omni-directional sensing platform is built up by attaching two LIDARs on the vehicle. In addition, an algorithm to distinguish pedestrians and others is implemented and the quantitative parameters of pedestrian motion are extracted from environmental data on driving in a pedestrian walking space. Furthermore, an environmental risk map during driving is constructed the risk potential field based on the potential field method. Finally, an algorithm to avoid collision risks is described and its effectiveness is verified by simulations based on the environmental risk map during driving.
