There is an increasing need to comprehensively characterize the kinematic performances of different Micromobility Vehicles (MMVs). This study aims to: 1) characterize the kinematic behaviors of different MMVs during emergency maneuvers; 2) explore the influence of different MMV power sources on the device performances; 3) investigate if piecewise linear models are suitable for modeling MMV trajectories. A test track experiment where 40 frequent riders performed emergency braking and swerving maneuvers riding a subset of electric MMVs, their traditional counterparts, and, in some cases, behaving as running pedestrians. A second experiment was conducted to determine the MMVs swerving lower boundaries. Device power source resulted having a statistically significant influence on kinematic capabilities of the MMVs: while e-MMVs displayed superior braking capabilities compared to their traditional counterparts, the opposite was observed in terms of swerving performance. Furthermore, performances varied significantly across the different MMV typologies, with handlebar-based devices consistently outperforming the handlebar-less devices across the metrics considered. The piecewise linear models used for braking profiles fit well for most MMVs, except for skateboards and pedestrians due to foot-ground engagement. These findings underscore that the effectiveness of steering or braking in preventing collisions may vary depending on the type and power source of the device. This study also demonstrates the applicability of piecewise linear models for generating parameterized functions that accurately model braking trajectories, providing a valuable resource for automated systems developers. The model, however, also reveals that the single brake ramp assumption does not apply for certain types of MMVs or for pedestrians, indicating the necessity for further improvements.

翻译：全面表征不同类型微型移动车辆（MMVs）的运动学性能需求日益增长。本研究旨在：1）表征不同MMV在紧急机动中的运动学行为；2）探究不同MMV动力源对设备性能的影响；3）验证分段线性模型是否适用于建模MMV轨迹。通过测试跑道实验，40名频繁使用者驾驶部分电动MMV及其传统对应设备执行紧急制动和避让机动，部分场景下还模拟行人奔跑行为。第二项实验旨在确定MMV的避让下限。设备动力源对MMV运动学能力产生统计显著影响：电动MMV相比传统设备展现出更优制动性能，但在避让性能方面相反。此外，不同MMV类型间性能差异显著，基于把手的设备在所有评估指标上均优于无把手设备。除滑板与行人因脚-地接触导致偏差外，用于制动曲线的分段线性模型对多数MMV拟合良好。这些发现表明，转向或制动在避免碰撞中的有效性可能因设备类型及动力源而异。本研究同时验证了分段线性模型可生成精确建模制动轨迹的参数化函数，为自动化系统开发者提供了宝贵资源。然而该模型亦揭示，单一制动斜坡假设不适用于某些MMV或行人场景，表明仍需进一步改进。