Obstacle Detection and Collision Avoidance from Blind Spots in Self-driving Wheelchair*

This study aims to develop a cost-effective autonomous electric wheelchair equipped with an early-stage obstacle avoidance system to handle blind spots at intersections, ensuring safe mobility for elderly users. In Japan, the demand for electric wheelchairs is rapidly increasing, with approximately 20,000 units shipped annually, driven by the progression of a super-aged society. Meanwhile, traffic accidents remain a significant issue, particularly at intersections where incidents involving elderly drivers are on the rise. Although previous studies have proposed collision avoidance systems for autonomous vehicles and electric wheelchairs, the unique challenges of wheelchair autonomy, including the economic feasibility of advanced sensors and the distinct risk scenarios at intersections, remain unresolved. To address these issues, this research focuses on the development of a practical solution to improve safety and mobility for the growing population of elderly electric wheelchair users.