Novel Motion Sickness Minimization Control via Fuzzy-PID Controller for Autonomous Vehicle

Sarah ‘Atifah Saruchi,Mohd Hatta Mohammed Ariff,Noor Hafizah Amer,Hairi Zamzuri,Nurhaffizah Hassan,Nurbaiti Wahid,Khairil Anwar Abu Kassim

doi:10.3390/app10144769

Sarah ‘Atifah Saruchi, Mohd Hatta Mohammed Ariff + Show 5 more

Open Access

https://doi.org/10.3390/app10144769

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Abstract

In terms of vehicle dynamics, motion sickness (MS) occurs because of the large lateral acceleration produced by inappropriate wheel turning. In terms of passenger behavior, subjects experience MS because they normally tilt their heads towards the direction of lateral acceleration. Relating these viewpoints, the increment of MS originates from the large lateral acceleration produced by the inappropriate wheel’s turn, which then causes greater head movement with respect to the lateral acceleration direction. Therefore, this study proposes the utilization of fuzzy-proportional integral derivative (PID) controller for an MS minimization control structure, where the interaction of the lateral acceleration and head tilt concept is adopted to diminish the lateral acceleration. Here, the head movement is used as the controlled variable to compute the corrective wheel angle. The estimation of the head movement is carried out by an estimation model developed by the radial basis function neural network (RBFNN) method. An experiment involving a driving simulator was conducted, to verify the proposed control system’s performance in regard to the autonomous vehicle’s passengers. The results show that the averages of motion sickness incidence (MSI) index can be lowered by 3.95% for single lap and 11.49% for ten laps.

Highlights

The autonomous vehicle is one of the rapidly evolving technologies that offer enhancement in mobility and positive contributions in terms of environmental impact [1,2]
The results indicated that the proposed motion sickness (MS) minimization control system consisting of the fuzzy-proportional integral derivative (PID) controller succeeded in achieving its objective
In terms of MS occurrence factors, there is an existing correlation with the steering, lateral acceleration and head roll. This correlation makes it possible to implement the usage of head roll as the controlled variable to generate an additional corrective wheel angle in mitigating

Summary

Introduction

The autonomous vehicle is one of the rapidly evolving technologies that offer enhancement in mobility and positive contributions in terms of environmental impact [1,2]. It has been reported that MS is one of the human factor issues that needs a finer understanding, so that vehicle automation can be successfully introduced [4]. This study focuses on the MS issue in an autonomous vehicle. It is well-known that drivers experience less MS than the passengers. In terms of the behavior of the occupants, the factors of MS include the sensory conflict theory and postural instability [5]

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Conclusion