HMDを用いた空間マッピングによる福祉車両の障害物回避

抄録

Recently, welfare vehicles are widely used among the aged. However, it is hard for inexperienced beginners or the aged to control the welfare vehicle in narrow places such as elevators and corridors. For these problem, the cognitive and driving ability is enhanced from the simulated objective view point with a Head Mounted Display (HMD). And the alternation of driving assistance and the automatic driving system is required. In this paper, we focus on an automatic driving system using wearable MR-device which has collision avoidance function using spatial mapping. The driver rides on the vehicle and controls it using the virtual preceding vehicle with HMD. The obstacles are mapped real-time with the spatial mapping function installed in HoloLens, and the virtual vehicles of the steering assist system are driven automatically using A* (A-Star) using NavMesh system. The effectiveness of proposed avoidance system is evaluated in a narrow corridor.