A dynamic personal space of a pedestrian for a personal mobility vehicle

This paper propose a dynamic personal space which is a region surrounding a person who can feel comfortable psychologically to other person with a personal mobility vehicle in the pedestrian flows. A dynamic personal space is defined considering with a relative velocity and acceleration between them. Therefore, it changes dynamically according to the advance velocity and acceleration of the personal mobility vehicle. Using this idea, a personal mobility vehicle will be able to move in a human coexistence environment without a feeling of oppression on other people. In this paper, we investigate spatial relationship with a personal mobility vehicle experimentally and define a dynamic personal space using these results. For verifying its effectiveness, we implement a drive assistance algorithm, which avoids a dynamic personal space, to our prototype personal mobility vehicle.