Semiautonomous Control of Personal Mobility Based on Passenger's Collision Avoidance Judgment Timing

We have implemented a personal mobility (vehicle) that has semiautonomous control by estimating the avoidance direction and the avoidance judgment timing. In coexist space of pedestrians and passengers on personal mobility, it is necessary to realize safety collision avoidance by moving the mobility. Therefore, we estimate avoiding direction from pedestrianfs body parts and implement semiautonomous collision avoidance system. And we have collision avoidance experiments between a pedestrian and a passenger on personal mobility. We evaluate important pedestrianfs body parts for avoiding judgment and avoidance judgment timing. As a result, passengers gaze at pedestrian's lower body parts in semiautonomous control, and avoidance judgment timing is delayed about pedestrian's one step. We have proposed a model of passenger's motion perception and vision guidance on personal mobility.