Development of a nonlinear predictive controller for mitigation of motion sickness in autonomous vehicles through multi-objective control of lateral and roll dynamics

Selçuk Arslan M. S., Kucukdemiral I., Farrag M. E.

Results in Engineering, cilt.25, 2025 (ESCI) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 25
  • Basım Tarihi: 2025
  • Doi Numarası: 10.1016/j.rineng.2024.103816
  • Dergi Adı: Results in Engineering
  • Derginin Tarandığı İndeksler: Emerging Sources Citation Index (ESCI), Scopus
  • Anahtar Kelimeler: Autonomous vehicles, Motion sickness mitigation, Nonlinear predictive control, Vehicle dynamics modelling, Vehicle path following
  • Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

This paper presents the design and evaluation of a nonlinear predictive controller for vehicle path following, specifically aimed at mitigating motion sickness (MS). The controller's cost function incorporates key vehicle motion components – lateral, roll, and yaw motions – to reduce occupant discomfort. By managing path-following and MS-related variables concurrently, the control law enhances ride smoothness. The controller is designed using a linear vehicle model that includes lateral and roll dynamics and is tested on an 11-degree-of-freedom nonlinear full-vehicle model. Performance is assessed using three metrics that evaluate motion smoothness: The Integral RMS Jerk criterion, which measures the rate of change of acceleration (jerk), the Cumulative Absolute Acceleration criterion, and the standard deviation of jerks. Computer simulations in MATLAB/Simulink, conducted on a double-lane-change manoeuvre at both low and high speeds, demonstrate that the proposed controller reduces MS-related motion metrics.