Human-Friendly Safe Driving Support System of Electric Wheelchair for Drift Suppression

Abstract

This paper describes a safe driving support system that reduces drift in the downhill direction when an electric wheelchair crosses a slope. To solve this drift problem, we propose a safe driving support system that controls a wheelchair based on the slip condition of drift, which is calculated from the roll angle, yaw angle, and wheelchair speed. Experimental results obtained using the developed electric wheelchair verify the usefulness of the proposed system.