電動車いすの手動運転特性を考慮した快適な自律移動の経路計画

抄録

Passenger comfort needs to be considered in the autonomous navigation of mobility scooters in pedestrian space. Previous works have shown that passenger comfort is affected by vehicle vibration and acceleration, and there are methods considering them. However, pedestrians are expected to exist continuously in large-scale facilities such as shopping malls, and it is not clear what factors may affect comfort in such space. Therefore, manual driving paths of mobility scooters were focused on in this study as paths comfortable for the passenger. The characteristics of the paths were investigated by analyzing paths collected with a driving simulator. Analysis results showed that scooter users tend to move in a free direction with no pedestrians, and paths with this characteristic was comfortable for the passengers. Based on the results, a design requirement of a path planning method for autonomous navigation in pedestrian space considering passenger comfort was set.