Abstract
Along with the aging society, electric wheelchair have been popular. Accident caused by carelessness or misoperation have increased as electric wheelchair became more popular. To prevent accidents, drive assistance systems are being developed. These are two problems:falling accidents due to undetected steps and path planning not considering the driver's intention. We developed a driving assist system that consists of step doundary detection using 3D-LiDAR and path plans considering the driver's intention. In order to detect a travelable area, our system is the integration of evaluation suitable for each factors that make the traveling hard. The evaluations are composed of the height information and the curvature estimation. We generate trajectory candidates that can safely travel from detected results. Afterwards, the electric wheelchair selects and follows the trajectory considering the driver's intention.
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