Development of a Virtual Environment Co-Simulation Platform for Evaluating Dynamic Characteristics of Self-Balancing Personal Mobility

As with the expansion of self-balancing personal mobility (SBPM) market, increasing number of accidents are being reported recent years while relevant safety regulations are not established yet. Hence development of technology associated with the evaluation of safety and stability of SBPM is essential. In evaluating the safety, SBPM cannot be tested physically for all different conditions due to many reasons. Therefore, we developed a virtual environment simulation platform capable of reproducing the dynamic behavior of SBPM for various driving conditions accurately thereby replacing the actual tests and being used as a platform for the evaluation of safety/stability of SBPM. To construct the co-simulation platform, model of SBPM was built in RecurDyn using the actual measurement data of a commercial SBPM product, and two internal controllers (self-balancing controller, and yaw-rate command controller) that play key roles in realizing the dynamic characteristics of SBPM were experimentally identified and were implemented into the RecurDyn model using MATLAB/Simulink. Validity of the virtual environment co-simulation platform was verified through the comparison with the experimental data.