JRM Vol.35 No.2 pp. 231-239
doi: 10.20965/jrm.2023.p0231


Pedestrian Avoidance Method Considering Passenger Comfort for Autonomous Personal Mobility Vehicles

Hiroshi Yoshitake, Yosuke Isono, and Motoki Shino

Graduate School of Frontier Sciences, The University of Tokyo
5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8563, Japan

September 12, 2022
October 14, 2022
April 20, 2023
pedestrian avoidance, passenger comfort, autonomous navigation, personal mobility vehicle

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.

Equipment used for comfort evaluation

Equipment used for comfort evaluation

Cite this article as:
H. Yoshitake, Y. Isono, and M. Shino, “Pedestrian Avoidance Method Considering Passenger Comfort for Autonomous Personal Mobility Vehicles,” J. Robot. Mechatron., Vol.35 No.2, pp. 231-239, 2023.
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