실내 자율주행 전동휠체어의 시나리오 기반 주행안전성 평가 가이드라인에 관한 연구

Abstract

Several studies are being conducted to improve the living convenience of physically handicapped people who have difficulty in activities due to aging and disability. Mobility is the most difficult life activity for the physically handicapped, and it is generally done through a wheelchair-type medical device. However, manual wheelchairs and electric wheelchairs require the minimum physical ability of the user, such as driving or rolling wheels. Many developments are being made on self-driving electric wheelchairs that can assist the physically handicapped to move alone without such physical abilities. In order to evaluate the safety of an autonomous driving electric wheelchair, there must be a corresponding evaluation method and standard. However, since there is no medical device safety evaluation method for the autonomous driving function, a guideline for evaluating the driving safety of an indoor autonomous driving electric wheelchair was studied. The guidelines were created by studying the existing indoor autonomous driving performance evaluation standards, setting necessary and suitable items for medical devices and electric wheelchairs, and establishing evaluation methods and standards for each item. In order to improve the completeness of the guideline, an expert Delphi survey was conducted twice. In addition, the guidelines created in this study were compared with the existing indoor autonomous driving evaluation standards. An autonomous driving electric wheelchair was developed according to the completed guidelines, and some items of performance evaluation for medical device licensing and some items of the driving safety evaluation guidelines for indoor autonomous driving electric wheelchairs were tested. Only the items that can be implemented at the laboratory level were tested, and all items were confirmed to meet the standards, confirming that the driving safety evaluation guideline can be tested with an actual autonomous driving electric wheelchair. The self-driving electric wheelchair and driving safety evaluation guidelines prepared in this study have limitations in that they only target indoor limited places. In the future, it is expected that self-driving electric wheelchairs that can be driven in any place and evaluation guidelines that can be evaluated in all spaces are prepared for the safe movement and independent living of the physically handicapped.