パーソナルモビリティの運転アシストを目的とした路肩逸脱回避のためのShared Control

抄録

When a user drives a personal mobility, it is necessary to avoid obstacles in narrow environments such as sidewalks. However, it is difficult for the user to drive the personal mobility in a narrow environment with obstacles. In this paper, therefore, we present a shared controller for user assistance. The shared controller allows the personal mobility to avoid collisions with obstacles. In this regard, however, the personal mobility might deviate from the sidewalk as a result of the collision avoidance. For this problem, the personal mobility is required to detect road edges in addition to obstacles. For the shared control based on artificial potential method, the repulsive force is generated from both of the obstacles and road edges. Finally, the experiments show that the user is able to move the personal mobility toward a destination while avoiding obstacles and without deviating from the sidewalk through the shared controller with load edge detection.