Stability of stand-up type PMV when reproducing dynamic behavior of a driver steering with intention

Abstract

Compact vehicles manufactured for personal use, called personal mobility vehicles (PMVs), are becoming used commonly. PMVs include the inverted pendulum vehicle, sitting-type PMV, and standing-type PMV. In recent years, the automatic driving of vehicles has been expected to simplify driving operations and to correct erroneous maneuvers. Automatic driving levels range from 0 to 5, but Level 1 supports either acceleration/deceleration or steering. In this study, we investigated the effect of the vehicle trajectory on driver’s steering behavior. According to the past research, in the case of the driver’s intentional steering, we found that the driver’s center of gravity (COG) moved in the opposite direction to the centrifugal force before turning, which stabilized the driver’s posture. This study aimed to evaluate the driver’s behaviors during automatic steering that reproduces the preliminary movement by vehicle trajectory. As a result, the driver’s COG movement before turning has middle correlation with the vehicle trajectory.