Abstract
The welfare vehicles have been widely used by elderly and disabled people in the facilities such as hospitals. The user can control the vehicle by the joystick operation easily. Recently, automatic driving for the welfare vehicle has been studied to reduce driver's burden and to improve the driving safety driving. The automatic control along the target trajectory created based on floor map is major way for welfare vehicle. However, it is difficult to change the driving route at will because unpleasant vibration occurs during switching the control method caused by discontinuity of control input. Especially, it is well known that switching control system from automatic driving to manual driving is severe problem. In this paper, we propose the smooth switching method from automatic driving to manual driving with bumpless control transfer using an active joystick. The effectiveness of the proposed method is verified by the driving experiments at the corner in narrow corridor.
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