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歩行空間で安全な低速移動体の開発に関する研究

步行空间安全低速移动物体的研制研究

基本信息

批准号：
10J08623
负责人：
伊藤太久磨
金额：
$ 0.9万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for JSPS Fellows
财政年份：
2010
资助国家：
日本
起止时间：
2010 至 2011
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10J08623/
关键词：
知能化移動体低速移動体外界センシング自律移動 HMI

项目摘要

身体障害者の社会参加の推進や高齢社会の進展に伴い,電動車いすやセニアカー等の福祉用電動移動体が歩行空間に存在する事が日常的な光景となってきた.また,エネルギー問題や環境負荷問題の解決策の一つとして,パーソナルモビリティと呼ばれる小型電動移動体が検討され,このような移動体が歩行空間も走行する事が提案されている.この様に,歩行空間に歩行者や自転車以外の移動体が登場しつつある.近年,歩行空間に電動低速移動体が登場しつつある中で,その安全性が疑問視されている.この問題に対し,情報科学やロボットの分野で培われた技術を用いることで,低速移動体を知能化することが提案されている.移動体自身が外界状況や搭乗者状態を認識し,適切な判断を下すことで俊敏性が低い移動体であっても危険状態の事前回避が可能になる.このような歩行空間でのアクティブセーフティを実現することで問題が解決でき,その利便性を享受することが出来ると考えられる.本年度は,試作車両を用いたアクティブセーフティシステムの一つとして,昨年度に開発した周辺交通参加者の交通モード認識に基づく自律移動機能の性能向上とその評価を行った.また,新たなシステムとして周辺交通参加者の位置・速度関係から走行環境の状況を認識し,その認識結果に応じて加減速制御を行う機能を開発し,その効果を確認した.そして,この様に複雑化しつつある知能化移動体に対して,搭乗者が安心感を抱くためのHMIの開発を行った.昨年度のドライビングシミュレータを用いた評価実験の結果を基に,今年度は試作HMIを知能化低速移動体の実機に搭載し,実機実空間での動作検証を行った.そして,これらの一連の要素技術の複雑な現実の歩行空間への適応可能性を,マルチエージェントシミュレーションによって確認した.この一連の取組みにより,本研究で検討してきた知能化低速移動体が実用化できる見通しを確認した.

People with physical disabilities participate in the promotion of advanced social programs, such as the promotion of high-school social development, and the use of electric motor vehicles for the well-being of people with physical disabilities. The resolution of the environmental load problem decided to make a quick decision on the issue of environmental load. please call for the operation of small-scale electric motors, such as the movement of small electric motors, and the movement of mobile vehicles in space. If you are not allowed to do so, the space traveler will not be allowed to move the vehicle outside the airport. In recent years, low-speed mobile vehicles in space vehicles are in the middle of the market, and safety concerns are concerned about the safety of vehicles. In order to solve the problem, the scientific research field is developed, the technical equipment is used, and the low-speed moving body is designed to improve the knowledge and ability of the motion. The mobile body has its own external condition, and the person who is in charge of the situation is aware of the status of the mobile body. Under the judgment, the mobile body is sensitive and sensitive. The mobile body is sensitive and dangerous. We need to make sure that we can find a solution to the problem of air traffic, and we can enjoy the convenience of getting out of the car and doing the examination. This year, an attempt was made to improve the performance of autonomous mobility machines in the first half of the year. Yesterday, traffic participants were invited to learn more about the performance of autonomous mobility machines. In recent years, traffic participants are required to learn about the location, speed, and environmental conditions of the traffic participants. as a result, the speed control machine is able to operate properly, and the vehicle is sure to operate properly. If you want to copy the information of the mobile body, you will feel at ease that you will start the HMI program. Last year, the results of the last year were based on the results of the last year. This year, we will conduct HMI knowledge-based low-speed mobile aircrafts and air-to-air crash operations for mobile phones. In this connection, you need to know that the elements of technology are not available, and that you are not aware of the possibility of space communication, and that you are aware of the possibility. The purpose of this study is to make sure that the low-speed moving body can be used to make sure that the low-speed moving body is capable of being used.