Development of a Driver Support System Based on Passability Index Using 3D Point Cloud Data for Personal Mobility

Abstract

In order to promote the widespread use of personal mobility (PM) in society, it is necessary to develop a driver support system that can accurately recognize the environment and improve the sense of security, safety, and comfort. This paper proposes a method for supporting the driver by recognizing obstacles and estimating the width of traffic from 3D point cloud obtained by the 3D lidar attached to the PM. To verify the effectiveness of the proposed method, we created a driving course with obstacles and conducted a driving test with 20 subjects. The results of this test show that the proposed method is effective in improving safety and comfort indices.