歩行者の行動推定に基づいたパーソナルモビリティの半自律制御と搭乗者の誘導モデルの構築

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  • Semi-autonomous Control of Personal Mobility and Construction of Passenger's Guidance Model Based on Pedestrian Action Estimation
  • ホコウシャ ノ コウドウ スイテイ ニ モトズイタ パーソナルモビリティ ノ ハンジリツ セイギョ ト トウジョウシャ ノ ユウドウ モデル ノ コウチク

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We have implemented the personal mobility performing semiautonomous control by estimating the avoidance direction of pedestrian and the avoidance judgment timing of passenger. In the space of pedestrian and personal mobility coexist, it is possible to realize a safety collision avoidance by moving the mobility in the lateral before passenger's avoidance judgment. Therefore, we utilize a Microsoft Kinect which obtains the coordinates of both feet of pedestrian. And we have tested collision avoidance experiments between a pedestrian and the mobility with the implemented model estimating avoiding direction from the feet's relative positions. We have evaluated the pupil size and the number of saccades of passenger by eye camera. As a result, it is possible to reduce the mental stress by semiautonomous control of mobility than autonomous control. Furthermore, we have evaluated the important body site in avoiding judgment and avoidance judgment timing. Based on the results, we have proposed a model of passenger's vision guidance and mobility avoidance.

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