倒立振子型車両の自動旋回に向けた操縦者挙動の実験的把握

抄録

The ultimate goal of this research is to safely apply automatic driving to Personal Mobility Vehicles (PMVs), which are personal transportation vehicles. One of the problems in applying automatic driving to an inverted pendulum vehicle is that the vehicle always requires posture stabilization control. It is important to understand the dynamic motion of the driver during automatic driving. In this paper, we experimentally investigate the driver’s behavior when manually or automatically switching from straight to turn, for example, center of driver’s gravity (COG) and center of driver’s foot pressure (COP). It was found that the risk of tambling is extremely high when the maximum centrifugal force exceeds 70N or when COG’s maximum displacement of the outer side of turning exceeds 0.1m. It was also found that COP movement was highly responsive to the posture maintenance.