福祉自動車の前向き駐車支援のための軌道計画とジョイスティック運転模擬装置による駐車実験

抄録

In this paper, we propose a parking assist system which controls a steering wheel to maneuver a welfare vehicle to park from the front side. The welfare vehicle equips with a joystick drive system which activates a steering wheel and pedals by electric motors. A parking assist system controls a steering wheel rotation while pedals are controlled by a human driver with a joystick interface. For designing parking trajectories, we introduce the clothoid curve theory to derive simple and continuous steering wheel motion. We tested the proposed parking assist system by using an experimental mechanism which equips a steering wheel, pedals, joystick control systems and a drive simulator. The experimental results show successful parking performances.