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Analysis for Comfortable Handling and Motion Sickness Minimization in Autonomous Vehicles Using Ergonomic Path Planning with Cost Function Evaluation
- Muhammad Rehan Siddiqi - RMIT University, School of Aerospace, Mechanical and Manufacturing Engineering, Australia ,
- Alireza Saharkhiz - RMIT University, School of Aerospace, Mechanical and Manufacturing Engineering, Australia ,
- Sina Milani - RMIT University, School of Aerospace, Mechanical and Manufacturing Engineering, Australia ,
- Chunyun Fu - Chongqing University, School of Automotive Engineering, China ,
- Reza Nakhaie Jazar - RMIT University, School of Aerospace, Mechanical and Manufacturing Engineering, Australia ,
- Hormoz Marzbani - RMIT University, School of Aerospace, Mechanical and Manufacturing Engineering, Australia
Journal Article
12-05-02-0013
ISSN: 2574-0741, e-ISSN: 2574-075X
Sector:
Citation:
Siddiqi, M., Saharkhiz, A., Milani, S., Fu, C. et al., "Analysis for Comfortable Handling and Motion Sickness Minimization in Autonomous Vehicles Using Ergonomic Path Planning with Cost Function Evaluation," SAE Intl. J CAV 5(2):147-163, 2022, https://doi.org/10.4271/12-05-02-0013.
Language:
English
Abstract:
Motion sickness is a human health issue that has existed for many years and now
serves as the primary hindrance to the very existence of self-driving technology
in Autonomous Vehicles (AV). This technology promises to transform drivers into
passengers and simple cars into entertainment transportation pods. This
potentially increases the likelihood of passengers getting motion sick and
threatens the acceptance of commercial AV. The study presents a practical
solution using ergonomic paths designed by transition curves such as 3-point
B-splines and Non-Uniform Rational B-Splines (NURBS) to study their impact on
passenger motion sickness and vehicle-handling behavior. Modern path-tracking
models and algorithms equipped with Model Predictive Controller (MPC) and
Sliding-Mode Controller (SMC) together with an eight degree of freedom (8 DOF)
vehicle model have been used to simulate vehicle motions. The simulation results
are evaluated using motion sickness thresholds and a novel cost function defined
by four key objectives, based on handling comfort, lateral error, motion
sickness, and postural instability. Evaluation of the cost function and motion
sickness thresholds overwhelmingly favor the use of 3-point NURBS for maximizing
handling comfort and minimizing motion sickness in AV.