It is anticipated that passengers in autonomous vehicles will be more occupied with in-vehicle activities. Loss of the authority on driving and engaging in non-driving tasks could cause lower predictability of car motions. This decrease in predictability is expected to increase the sensitivity to carsickness. It appears that it is crucial to develop controllers for autonomous driving with the capability of improving passenger comfort by reducing carsickness. In this regard, it can be asked how the motion variables can be used for the minimization of a carsickness-related measure, while the vehicle is required to follow a given path. In this study, an optimal control approach is being proposed to minimize a quantitative measure of carsickness. In order to address carsickness during autonomous maneuvers, the well-known motion sickness dose value formulation in ISO 2631-1 is augmented with horizontal direction motion components to define a performance measure. The performance measure includes the motion sensed in vestibular system rather than the motion occurring in the vehicle itself. Therefore, mathematical model of the vestibular system is included in the design of controller. Effects of acceleration and jerk are included in performance measure simultaneously. Control oriented linear parameter varying vehicle model is developed to design the path following controller. By means of simulation studies in which path following control is implemented, motion sickness dose values of the controlled vehicle are examined. It is shown by a regular lane change test at various speeds that the proposed controller, which seeks the minimization of the motion sickness dose value, achieves a reduction of the acceleration and jerk felt by a passenger, while the vehicle follows the given path.

中文翻译：

---

基于晕车的自动驾驶汽车控制器的设计和开发，以提高乘员的舒适度

预计自动驾驶汽车的乘客将更多地从事车内活动。失去驾驶权力和从事非驾驶任务可能会导致汽车运动的可预测性降低。这种可预测性的降低预计会增加对晕车的敏感性。开发具有通过减少晕车来提高乘客舒适度的能力的自动驾驶控制器似乎至关重要。在这方面，可以询问如何将运动变量用于最小化晕车相关措施，同时要求车辆遵循给定路径。在这项研究中，提出了一种最佳控制方法，以最大限度地减少晕车的定量测量。为了解决自主操作过程中的晕车问题，ISO 2631-1 中众所周知的晕动病剂量值公式增加了水平方向的运动分量，以定义性能度量。性能测量包括前庭系统中感测到的运动，而不是车辆本身发生的运动。因此，前庭系统的数学模型包含在控制器的设计中。加速度和加加速度的影响同时包含在性能测量中。开发了面向控制的线性参数变车辆模型来设计路径跟随控制器。通过实施路径跟随控制的模拟研究，检查受控车辆的晕动病剂量值。不同速度下的常规车道变换测试表明，建议的控制器，