シェアドスペースにおける周辺移動物の軌道予測に基づく自律走行パーソナルモビリティの運動制御

抄録

In recent years, Personal Mobility (PM) has attracted attention as a new means of moving in behalf of foot or car. PM is small electric powered vehicle that runs at low speed, and hence has highly affinity with pedestrians. Therefore, it is suitable to use PM in a space called 'shared space' where pedestrians, cars, and so on coexist. Additionally, research on autonomous driving has also been actively carried out in order to enhance its convenience. In autonomous driving of PM in shared space, it is important to establish a motion control method for safely and comfortably avoiding pedestrians, cars and so on. Therefore, in this paper, we propose a motion control method of PM with trajectory prediction that enables safe and comfort obstacle avoidance. In this method, firstly, the future trajectory of the obstacle is predicted. Next, this predicted trajectory of the future is represented as an oblique prism on the three dimensional space-time temporal space consisting of x, y and time axes and the path and speed of the PM is controlled so as to avoid this oblique prism. Thus, it is possible to control the path and speed of the PM to avoid various obstacles safely based on prediction. From various simulation results, we show the effectiveness of the proposed method.