Research of intelligent driving support system for welfare vehicle operation

电动四轮交通工具等福利设备的发展取得了进步，这些高效设备的普及使用得到了积极的开展。这个系统可以为护理人员提供适当的支持，这样非专业人士和残疾人就可以安全地使用具有这种先进性能的设备。如何在尊重人的意图的前提下支持人的驾驶和操作，是该系统开发过程中需要解决的一个重要问题。为了解决这一问题，本研究建立了人的驾驶模型，并制作了应用模糊控制技术允许非熟练驾驶的智能驾驶支架的硬件和软件系统。首先，电脑被安装在人类能够真正乘坐的四轮福利车上。1)开发考虑周围环境和当前位置的智能驾驶系统，使驾驶人易于操作，并操作合适的汽车。2)开发了人工直接操作的系统，通过了解非技能操作人员的特点，建立支持人员的知识，并通过语音传播适当的运行支持；3)提出了以往运行知识依赖人的设置，采用强化学习的方法，计算机提出了自动获取知识的方法。这些效果得到了证实。此外，该系统还内置了专家知识，识别人的驾驶操作，并通过语音和图形显示的方式通知人适当的指导。改进了与用户的界面，并通过实车综合评价验证了所开发的智能驾驶支持系统的有效性。

The developments of a welfare equipment such as electric four-wheeled vehicles advances, and the popular use of these efficient equipment have been done actively. The system that achieves the appropriate support that man who is nursing is doing now with the computer is necessary so that non-expert and the handicapped person may safely use the equipment with this advanced performance. When this system is developed, it is an important problem that how man's driving and operation are supported while especially esteeming his intention should solve. To solve this problem in this research, man's driving model was made to exist, and hardware and software system of the intelligent driving support that applied the fuzzy control technique that allowed an unskilled driving was made.First of all, the computer was installed in the four-wheeled vehicle for welfare that man was able to actually get on. 1) Development of intellectual driving system that considers surrounding circumstances and present location based on easy instruction of got on man and operates appropriate car. 2) Development of system that assumes case where man operates it directly, builds in knowledge of those who support it by understanding of non-skill operation person's characteristic, and does dissemination of appropriate running support by voice, 3) It proposes the setting of the running knowledge to rely on people in the past, the method of reinforced study is applied and the computer proposes the method to acquire knowledge automatically. These effectiveness was confirmed.In addition, expert's knowledge was built in, man's driving operation was recognized, and an appropriate guidance was notified to man by a voice and a graphic display. The interface with the user was improved, and the effectiveness of the intellectual driving support system that developed was confirmed by the comprehensive evaluation that used a real vehicle.