倒立振子型パーソナルトランスポーターの安全性評価に関するシミュレータ構築

In recent years, inverted pendulum personal transporters ( PT ) which have excellent visibility and operability have been used mainly in Europe and the USA, but accidents due to driver inattention have been reported. Therefore, a driving assistance system is needed to help the driver notices obstacles. In the evaluation of driving assistance systems, experiments using simulators are important to ensure safety and to unify conditions. The aim of this study is construction of a simulator and applying it to safety performance evaluation of driving assistance systems. In order to simulate driving in a actual PT, a PT model is constructed using simulator software that moves according to the driver's centre of mass. The view of the PT model is projected. The behaviour of the PT model was compared with the actual PT to evaluate its reproducibility. An evaluation experiment was conducted with a driving assistance device mounted on the control interface. The PT model drives toward the obstacle in the simulator and the driver applies the brakes when the driving assistance device is activated. Drivers were surveyed after simulated driving. Braking distances were compared with speeds.