周辺歩行者の接近に対する搭乗者の許容特性を考慮した自律移動車いすの経路計画

抄録

Smooth navigation, which is consisted of efficiency and comfort, is important for autonomous mobility scooters. Efficiency can be regarded as the shortness of time the vehicle requires to reach the destination. In a previous work, the theory of situation awareness was applied to the passenger’s comfort recognition. Based on the theory, the passenger was considered to recognize comfort according to not only the recognition of the current situation, for example, the distance between the vehicle and the nearest pedestrian, but also the prediction of the future status. In this paper, passenger’s tolerance was considered as relatively smaller discomfort against close pedestrians. The characteristics of this tolerance was investigated by analyzing data of the previous work and conducting a participant experiment. The results revealed situations that the vehicle can refrain from avoiding approaching pedestrians. Based on the results, design requirements of a path planning method for smooth autonomous navigation were set.