Pedestrian Avoidance Method Considering Passenger Comfort for Autonomous Personal Mobility Vehicles

During the autonomous navigation of personal mobility vehicles (PMVs) in pedestrian spaces, avoiding collisions with pedestrians walking nearby is necessary. The avoidance paths of PMVs are affected by the behaviors of the pedestrians, which may also affect passenger comfort. Herein, a local path-pl...

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Bibliographic Details
Published in:Journal of robotics and mechatronics 2023-04, Vol.35 (2), p.231-239
Main Authors: Yoshitake, Hiroshi, Isono, Yosuke, Shino, Motoki
Format: Article
Language:English
Subjects:
Automation
Autonomous navigation
Avoidance
Behavior
Mobility
Older people
Parameters
Passenger comfort
Path planning
Pedestrians
Scooters
Travel
Vehicles
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Summary:During the autonomous navigation of personal mobility vehicles (PMVs) in pedestrian spaces, avoiding collisions with pedestrians walking nearby is necessary. The avoidance paths of PMVs are affected by the behaviors of the pedestrians, which may also affect passenger comfort. Herein, a local path-planning method that considers passenger comfort to realize comfortable pedestrian avoidance during the autonomous navigation of PMVs in pedestrian spaces is proposed. First, the avoidance path and pedestrian behavior parameters affecting passenger comfort are investigated by evaluating passenger comfort in scenarios with different avoidance paths and pedestrian behaviors. Next, the requirements of a pedestrian avoidance method that considers passenger comfort are set based on the parameters affecting passenger comfort. Finally, a novel path-planning method that satisfies the requirements is proposed. The method is shown to generate comfortable paths in pedestrian spaces via a numerical simulation and participant experiment.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2023.p0231