Development Of Autonomous Vehicles Research Articles

Autonomous Vehicles: Open-Source Technologies, Considerations, and Development

Autonomous vehicles are the culmination of advances in many areas such as sensor technologies, artificial intelligence (AI), networking, and more. This paper will introduce the reader to the technologies that build autonomous vehicles. It will focus on open-source tools and libraries for autonomous vehicle development, making it cheaper and easier for developers and researchers to participate in the field. The topics covered are as follows. First, we will discuss the sensors used in autonomous vehicles and summarize their performance in different environments, costs, and unique features. Then we will cover Simultaneous Localization and Mapping (SLAM) and algorithms for each modality. Third, we will review popular open-source driving simulators, a cost-effective way to train machine learning models and test vehicle software performance. We will then highlight embedded operating systems and the security and development considerations when choosing one. After that, we will discuss Vehicle-to-Vehicle (V2V) and Internet-of-Vehicle (IoV) communication, which are areas that fuse networking technologies with autonomous vehicles to extend their functionality. We will then review the five levels of vehicle automation, commercial and open-source Advanced Driving Assistance Systems, and their features. Finally, we will touch on the major manufacturing and software companies involved in the field, their investments, and their partnerships. These topics will give the reader an understanding of the industry, its technologies, active research, and the tools available for developers to build autonomous vehicles.

A Review on Machine Learning Techniques Used in VANET and FANET Networks

The widespread use of the Internet and the increase in the number and variety of devices connected to the internet have led to the emergence of new methods in wireless communication. Dynamic and temporary Ad-Hoc networks, which do not require a fixed infrastructure as in traditional wireless network communication, are one of these new methods. The fact that Ad-Hoc networks do not need a fixed infrastructure has revealed a network structure with a lower cost and less configuration. Mobile Ad-Hoc networks play an important role, especially in the communication of nodes on the move. FANET (Flying Ad-Hoc Networks) networks, which are called flying ad hoc networks, are mobile Ad-Hoc networks used for communication of unmanned aerial vehicles (UAV), and VANET (Vehicular Ad-Hoc Networks) networks, which are called vehicular ad hoc networks, are mobile Ad-Hoc networks used for communication of road vehicles. The development and dissemination of these networks make a significant contribution to the development of autonomous vehicles and UAVs. The increase in the use of FANET and VANET networks, which are specialized subnets of mobile Ad-Hoc networks, and the increase in the number of nodes in these networks have caused problems related to security, efficiency, and sustainability in these networks. Machine learning methods, one of today' s effective and common approaches, are one of the ways that are frequently used in solving the problems specified in FANET and VANET networks. The rapid topology change, which is one of the most important features of these networks, makes it difficult to provide traffic management, trust management, routing, and data transmission. In this direction, machine learning approaches play an active role. In this study, it is presented by examining which machine learning techniques are used in the literature to perform important tasks such as traffic management, trust management, routing, and data transfer. Thus, it is aimed for those who will work in these fields to acquire information about machine learning approaches that can be used. Since the FANET network type is a new approach, it has been observed that there are few studies using machine learning. In VANET systems, studies using machine learning methods are especially intense in 2021. This study was carried out to give the reader an idea about which machine learning methods can be used in which problems in FANET and VANET networks.

Real-Time 3D Object Detection and Classification in Autonomous Driving Environment Using 3D LiDAR and Camera Sensors

The rapid development of Autonomous Vehicles (AVs) increases the requirement for the accurate prediction of objects in the vicinity to guarantee safer journeys. For effectively predicting objects, sensors such as Three-Dimensional Light Detection and Ranging (3D LiDAR) and cameras can be used. The 3D LiDAR sensor captures the 3D shape of the object and produces point cloud data that describes the geometrical structure of the object. The LiDAR-only detectors may be subject to false detection or even non-detection over objects located at high distances. The camera sensor captures RGB images with sufficient attributes that describe the distinct identification of the object. The high-resolution images produced by the camera sensor benefit the precise classification of the objects. However, hindrances such as the absence of depth information from the images, unstructured point clouds, and cross modalities affect assertion and boil down the environmental perception. To this end, this paper proposes an object detection mechanism that fuses the data received from the camera sensor and the 3D LiDAR sensor (OD-C3DL). The 3D LiDAR sensor obtains point clouds of the object such as distance, position, and geometric shape. The OD-C3DL employs Convolutional Neural Networks (CNN) for further processing point clouds obtained from the 3D LiDAR sensor and the camera sensor to recognize the objects effectively. The point cloud of the LiDAR is enhanced and fused with the image space on the Regions of Interest (ROI) for easy recognition of the objects. The evaluation results show that the OD-C3DL can provide an average of 89 real-time objects for a frame and reduces the extraction time by a recall rate of 94%. The average processing time is 65ms, which makes the OD-C3DL model incredibly suitable for the AVs perception. Furthermore, OD-C3DL provides mean accuracy for identifying automobiles and pedestrians at a moderate degree of difficulty is higher than that of the previous models at 79.13% and 88.76%.

A Review on Real-Time Traffic Sign Recognition with Voice Warnings

Road signs are essential for providing information to drivers. Understanding road signs are essential for ensuring traffic safety because doing so can stop 4484 accidents. The identification of traffic signs has been the focus of research in recent decades. Accurate real-time recognition is the cornerstone of a robust but underdeveloped traffic sign recognition system. This study provides drivers with real-time voice-advice traffic sign recognition technology. This system is composed of two subsystems. Using a trained convolutional neural network, the first recognizes and detects traffic signs (CNN). When the system notices a particular traffic sign, the text-to-speech engine is employed to play a voice message to the driver. An efficient- CNN model is built on the reference data set using deep learning methods for search and real-time search. This system's advantage is that it recognizes traffic signs and guides the car even if the driver overlooks, ignores, or doesn't understand them. Say. These technologies are also necessary for the development of autonomous vehicles.

Rapid Localization and Mapping Method Based on Adaptive Particle Filters.

With the development of autonomous vehicles, localization and mapping technologies have become crucial to equip the vehicle with the appropriate knowledge for its operation. In this paper, we extend our previous work by prepossessing a localization and mapping architecture for autonomous vehicles that do not rely on GPS, particularly in environments such as tunnels, under bridges, urban canyons, and dense tree canopies. The proposed approach is of two parts. Firstly, a K-means algorithm is employed to extract features from LiDAR scenes to create a local map of each scan. Then, we concatenate the local maps to create a global map of the environment and facilitate data association between frames. Secondly, the main localization task is performed by an adaptive particle filter that works in four steps: (a) generation of particles around an initial state (provided by the GPS); (b) updating the particle positions by providing the motion (translation and rotation) of the vehicle using an inertial measurement device; (c) selection of the best candidate particles by observing at each timestamp the match rate (also called particle weight) of the local map (with the real-time distances to the objects) and the distances of the particles to the corresponding chunks of the global map; (d) averaging the selected particles to derive the estimated position, and, finally, using a resampling method on the particles to ensure the reliability of the position estimation. The performance of the newly proposed technique is investigated on different sequences of the Kitti and Pandaset raw data with different environmental setups, weather conditions, and seasonal changes. The obtained results validate the performance of the proposed approach in terms of speed and representativeness of the feature extraction for real-time localization in comparison with other state-of-the-art methods.

Methods of Material and Surface Analysis for the Evaluation of Failure Modes for Electrical Connectors

The development of autonomous vehicles and the integration of new information and communication technologies are making the reliability of electrical systems and components in modern vehicles increasingly important. Electrical connectors are a crucial component in an electrical on-board system. They are exposed to a wide variety of influences by the environment and operating conditions. Thus, the degradation of electrical connectors can occur. Material and surface analysis methods are the tools used to analyze the degradation mechanisms in connectors after lifetime tests, as well as in field operations. Within the framework of this study, a wide variety of methods from the analytical scope are presented and discussed. The connector surfaces degraded by different failure mechanisms are analyzed using various material and surface analysis methods. The quality and the nature of the analyses results obtained from various analysis methods are compared. Also, this study deals with the benefits and limitations, as well as the effort and the specific challenges of different material and surface analytical methods for the evaluation of failure mechanisms from the point of view of a material and surface analyst.

Development of an Autonomous Driving Vehicle for Garbage Collection in Residential Areas

Autonomous driving and its real-world implementation have been among the most actively studied topics in the past few years. In recent years, this growth has been accelerated by the development of advanced deep learning-based data processing technologies. Moreover, large automakers manufacture vehicles that can achieve partially or fully autonomous driving for driving on real roads. However, self-driving cars are limited to some areas with multi-lane roads, such as highways, and self-driving cars that drive in urban areas or residential complexes are still in the development stage. Among autonomous vehicles for various purposes, this paper focused on the development of autonomous vehicles for garbage collection in residential areas. Since we set the target environment of the vehicle as a residential complex, there is a difference from the target environment of a general autonomous vehicle. Therefore, in this paper, we defined ODD, including vehicle length, speed, and driving conditions for the development vehicle to drive in a residential area. In addition, to recognize the vehicle's surroundings and respond to various situations, it is equipped with various sensors and additional devices that can notify the outside of the vehicle's state or operate it in an emergency. In addition, an autonomous driving system capable of object recognition, lane recognition, route planning, vehicle manipulation, and abnormal situation detection was configured to suit the vehicle hardware and driving environment configured in this way. Finally, by performing autonomous driving in the actual experimental section with the developed vehicle, it was confirmed that the function of autonomous driving in the residential area works appropriately. Moreover, we confirmed that this vehicle would support garbage collection works through the experiment of work efficiency.

Lighting a Path for Autonomous Vehicle Communication: The Effect of Light Projection on the Detection of Reversing Vehicles by Older Adult Pedestrians.

Pedestrian understanding of driver intent is key to pedestrian safety on the road and in parking lots. With the development of autonomous vehicles (AVs), the human driver will be removed, and with it, the exchange that occurs between drivers and pedestrians (e.g., head nods, hand gestures). One possible solution for augmenting that communication is an array of high-intensity light-emitting diodes (LEDs) to project vehicle-to-pedestrian (V2P) messages on the ground plane behind a reversing vehicle. This would be particularly beneficial to elderly pedestrians, who are at particular risk of being struck by reversing cars in parking lots. Their downward gaze and slower reaction time make them particularly vulnerable. A survey was conducted to generate designs, and a simulator experiment was conducted to measure detection and reaction times. The study found that elderly pedestrians are significantly more likely to detect an additional projected message on the ground than detect the existing brake light alone when walking in a parking lot.

Comparing Inequality in Future Urban Transport Modes by Doughnut Economy Concept

Inequality is a problem facing the world community, especially in developing countries, that affects urban transport and vice versa. Which possible urban transportation mode will cause the least inequality? This is a vital question. The development of Autonomous vehicles (AV) has made Shared Autonomous Vehicles (SAV) one of the future transport modes. Active and public transport are also mentioned as applicable future modes, based on the literature. This paper aims to compare inequality in active transportation, public transport and SAV as the most important alternatives to private cars in the future. In this regard, we use doughnut economic concepts as the framework for our comparison. First, the inequality concept is expanded and then literature demonstrates the future desirability of modes. We show why doughnut economics could be a beneficial alternative for comparing that resulted in the superiority of active and public transport over SAV in terms of future inequality.

Hybrid deterministic non-deterministic data-parallel algorithm for real-time unmanned aerial vehicle trajectory planning in CUDA

The development of autonomous Unmanned Aerial Vehicles (UAVs) is a priority to many civilian and military organizations. Real time optimal trajectory planning is an essential element for the autonomy of UAVs. The use of metaheuristic algorithms for solving such complex optimization problems with non-linearity and multimodality has gained popularity recently. In this paper, we use a non-deterministic Flower Pollination Algorithm (FPA) to deal with the problem's complexity and compute feasible and quasi-optimal trajectories for fixed-wing UAVs in complex 3D environments, taking into account the vehicle's flight properties. The global optimization algorithm is improved with the addition of a deterministic 2-opt local search providing a significant improvement. To achieve real-time performance, the proposed trajectory planner in implemented and parallelized following the data-parallel paradigm on a Graphics Processing Unit (GPU) using the Compute Unified Device Architecture (CUDA) resulting in a 253.4x speedup compared to the sequential implementation on CPU. The parallel implementation is able to compute quasi-optimal trajectories in just 0.369 s.

Peningkatan Kualitas Sistem Informasi Berbasis Website untuk Kendaraan Listrik Otonom

Current technological developments have made the website a means of disseminating information that offers various conveniences and speeds in its presentation. Speed and convenience are positive values of the existence of the internet. The website is more easily accessible by people in various regions just by using the internet. One of the benefits of the website is that in terms of marketing the products of a business, the website can be a means of promoting, marketing and conveying information effectively and efficiently to the public. Another benefit of website technology is for information purposes of autonomous electric vehicles. This technology in the future can be integrated on the website for the purpose of information on its existence and condition. In fact, it is possible to create applications for the use of autonomous electric vehicles by making calls through the website, as is the case with applications that are currently popular, namely Gojek or Grab.In designing a website-based information system, a markup language consisting of HTML and CSS is used which is synchronized so that it can run simultaneously, besides that, the PHP programming language is also used to make the website look more dynamic and responsive. The method used in improving the quality of the website- based information system for autonomous electric vehicles is the static website method. On static websites the content provided is constant or does not change and on each page is made with HTML code.In this study, a website-based information system was developed for the purposes of a simple autonomous electric vehicle, which operates in the Nurtanio University Bandung campus. This website design consists of 8 pages. Page 1 contains a homepage where general information on research activities for the development of simple autonomous electric vehicles is found. Page 2 contains object detection which displays more detailed information about the object detection technology used in autonomous electric vehicles. Information about the presence of autonomous electric vehicles in the campus environment is then shown on page 3, namely Av Tracker. Page 4 contains the results of the research that has been done. Page 5 contains research opportunities. This website design is also equipped with a contributor page on page 6 which contains researchers involved in autonomous electric vehicle research. Page 7 contains biodata of alumni who have contributed. At the end, page 8 is for contact information for those who are interested in communicating further about matters related to this research.The final form of a website-based information system is to provide convenience to convey information about autonomous electric vehicles, and also to provide convenience for website management according to the required data and for further development with a tracking system.

Safety and Sustainable Development of Automated Driving in Mixed-Traffic Urban Areas—Considering Vulnerable Road Users and Network Efficiency

Next to environmental aspects, establishing areas for safe and economically viable automated driving in mixed-traffic settings is one major challenge for sustainable development of Autonomous Vehicles (AVs). This work investigates safety in the interactions between AVs, human-driven vehicles, and vulnerable road users, including cyclists and pedestrians, within a simulated urban environment in the Dutch city of Rotterdam. New junction and pedestrian models are introduced, and virtual AVs with an occlusion-aware driving system are deployed to deliver cargo autonomously. The safety of applying this autonomous cargo delivery service is assessed using a large set of Surrogate Safety Indicators (SSIs). Furthermore, Macroscopic Fundamental Diagrams (MFDs) and travel time loss are incorporated to evaluate the network efficiency. By assessing the impact of various measures involving Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), Vehicle-to-Everything (V2X) communications, infrastructure modifications, and driving behavior, we show that traffic safety and network efficiency can be achieved in a living lab setting for the considered case. Our findings further suggest that V2X gets implemented, new buildings are not placed close to intersections, and the speed limit of non-arterial roads is lowered.

Pedestrian Trajectory Prediction for Real-Time Autonomous Systems via Context-Augmented Transformer Networks.

Forecasting the trajectory of pedestrians in shared urban traffic environments from non-invasive sensor modalities is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using recurrent neural networks (RNNs). Despite the powerful capabilities of RNNs in capturing the temporal dependency in the pedestrians’ motion trajectories, they were argued to be challenged when dealing with longer sequential data. Additionally, whilst the accommodation for contextual information (such as scene semantics and agents interactions) was shown to be effective for robust trajectory prediction, they can also impact the overall real-time performance of prediction system. Thus, in this work, we are introducing a framework based on the transformer networks that were demonstrated recently to be more efficient and outperformed RNNs in many sequential-based tasks. We relied on a fusion of sensor modalities, namely the past positional information, agent interactions information and scene physical semantics information as an input to our framework in order to not only provide a robust trajectory prediction of pedestrians, but also achieve real-time performance for multi-pedestrians’ trajectory prediction. We have evaluated our framework on three real-life datasets of pedestrians in shared urban traffic environments and it has outperformed the compared baseline approaches in both short-term and long-term prediction horizons. For the short-term prediction horizon, our approach has achieved lower scores according to the average displacement error and the root-mean squared error (ADE/RMSE) of predictions over the state-of-the art (SOTA) approach by more than 11 cm and 23 cm, respectively. While for the long-term prediction horizon, our approach has achieved lower ADE and FDE over the SOTA approach by more than 62 cm and 165 cm, respectively. Additionally, our approach has achieved superior real time performance by scoring only 0.025 s (i.e., it can provide 40 individual trajectory predictions per second).

Analysis of ID Sequences Similarity Using DTW in Intrusion Detection for CAN Bus

Connected vehicles have recently attracted considerable attention for revolutionizing the transportation industry. Although connectivity brings about a vast number of benefits, it can give rise to a wider attack surface as more physical access interfaces have been introduced. In particular, anomalous behaviour of the Electronic Control Units (ECUs) caused by malicious attacks can result in serious consequences and possibly lead to fatal accidents. Hence, it is important to develop methodologies that can sniff vehicular data and detect it for further attack analysis. In this article, we develop a novel similarity-based intrusion detection methodology named SIDuDTW, which identifies malicious messages inside vehicle network, e.g., Controller Area Network (CAN), by using Dynamic Time Warping (DTW) distance between CAN ID sequences. Subsequently, the theoretical analysis for the recurring sequence pattern, wave splitting strategies, similarity metric, and optimal parameters providing strong robustness against several kinds of attacks in SIDuDTW are detailed. A series of experiments demonstrate that the developed methodology can detect attacks with high accuracy. In addition, this proposed methodology significantly outperforms the intrusion detection capabilities of existing approaches in terms of basic injection, replay and suppression attacks. It is envisioned that this work will contribute to the development of safer autonomous vehicle conceptualized as a key unit within broader smart city.

State Estimation and Motion Prediction of Vehicles and Vulnerable Road Users for Cooperative Autonomous Driving: A Survey

The recent progress in autonomous vehicle research and development has led to increasingly widespread testing of fully autonomous vehicles on public roads, where complex traffic scenarios arise. Along with these vehicles, partially autonomous vehicles, manually-driven vehicles, pedestrians, cyclists, and some animals can be present on the road, to which autonomous vehicles must react. This study focuses on a comprehensive survey of the literature on motion prediction and state estimation of vehicles and VRUs, which are essential for path planning and navigation functionalities of an autonomous vehicle. Motion prediction and state estimation methods utilize the vehicle’s own sensory perception capabilities and information obtained through cooperative perception from V2V and V2X connections. This survey summarizes the significant progress that has been made in both categories, discusses the most promising results to date and outlines critical research challenges that need to be overcome to achieve full autonomy, from an ego vehicle’s perspective in mixed traffic environments.

Where to from here? On the future development of autonomous vehicles from a cognitive systems perspective

Self-driving cars not only solve the problem of navigating safely from location A to location B; they also have to deal with an abundance of (sometimes unpredictable) factors, such as traffic rules, weather conditions, and interactions with humans. Over the last decades, different approaches have been proposed to design intelligent driving systems for self-driving cars that can deal with an uncontrolled environment. Some of them are derived from computationalist paradigms, formulating mathematical models that define the driving agent, while other approaches take inspiration from biological cognition. However, despite the extensive work in the field of self-driving cars, many open questions remain. Here, we discuss the different approaches for implementing driving systems for self-driving cars, as well as the computational paradigms from which they originate. In doing so, we highlight two key messages: First, further progress in the field might depend on adapting new paradigms as opposed to pushing technical innovations in those currently used. Specifically, we discuss how paradigms from cognitive systems research can be a source of inspiration for further development in modelling driving systems, highlighting emergent approaches as a possible starting point. Second, self-driving cars can themselves be considered cognitive systems in a meaningful sense, and are therefore a relevant, yet underutilized resource in the study of cognitive mechanisms. Overall, we argue for a stronger synergy between the fields of cognitive systems and self-driving vehicles.

SUMO4AV: An Environment to Simulate Scenarios for Shared Autonomous Vehicle Fleets with SUMO Based on OpenStreetMap Data

In the past years the progress in the development of autonomous vehicles has increased tremendously. There are still technical, infrastructural and regulative obstacles which need to be overcome. However, there is a clear consent among experts that fully autonomous vehicles (level 5 of driving automation) will become reality in the coming years or at least in the coming decades. When fully autonomous vehicles are widely available for a fair trip price and when they can easily be utilized, a big shift from privately owned cars to carsharing will happen. On the one hand, this shift can bring a lot of chances for cities like the need of less parking space. But on the other hand, there is the risk of an increased traffic when walking or biking trips are substituted by trips with shared autonomous vehicle fleets. While the expected social, ecological and economical impact of widely used shared autonomous vehicle fleets is tremendous, there are hardly any scientific studies or data available for the effects on cities and municipalities. The research project KI4ROBOFLEET addressed this demand. A result of the project was SUMO4AV, a simulation environment for shared autonomous vehicle fleets, which we present in this paper. This simulation tool is based on SUMO, an open-source traffic simulation package. SUMO4AV can support city planners and carsharing companies to evaluate the chances and risks of running shared autonomous fleets in their local environment with their specific infrastructure. At its core it comprises the mapping of OpenStreetMap1 entities into SUMO objects as well as a Scenario Builder to create different operation scenarios for autonomous driving. Additionally, the simulation tool offers a recursive execution with different fleet sizes and optimization strategies evaluated by economic and ecologic parameters. As evaluation of the toolset a simulation of an ordinary scenario was performed. The workflow to simulate the scenario for shared autonomous vehicle fleets was successfully processed with the SUMO4AV environment.

Investigating the Impacting Factors on the Public’s Attitudes towards Autonomous Vehicles Using Sentiment Analysis from Social Media Data

The attitudes of the public play a critical role in the acceptance, purchase, utilization, and research and development of autonomous vehicles (AVs). Currently, the attitudes of the public toward AVs have been mostly estimated through traditional survey data, which bears a low quantity of samples with high labor costs. It is probably also one of the reasons why the critical factors on the attitudes of the public toward AVs have not been studied from a comprehensive perspective yet. To address the issue, this study aims to propose a method by using large-scale social media data to investigate key factors that affect the attitudes of the public toward AVs. A total of 954,151 Twitter data related to AVs and 53 candidate independent variables from seven categories were extracted using the web scraping method. Then, sentiment analysis was used to measure the public attitudes towards AVs by calculating sentiment scores. Random forests algorithm was employed to preliminarily select candidate independent variables according to their importance and a linear mixed model was utilized to explore the impacting factors, considering the unobserved heterogeneities caused by the subjectivity level of tweets. The results showed that the attitudes of the public toward AVs were slightly optimistic. Factors, such as “drunk”, “blind spot”, and “mobility”, had the largest impacts on public attitudes. In addition, people were more likely to express positive feelings when talking about words, such as “lidar” and “Tesla”, related to high technologies. Conversely, factors, such as “COVID-19”, “pedestrian”, “sleepy”, and “highway”, were found to have significantly negative effects on the attitudes of the public. The findings of this study are beneficial for the development of AV technologies, the guidelines for AV-related policy formulation, and the understanding and acceptance of the public toward AVs.

Development and trials of a novel deep-sea multi-joint autonomous underwater vehicle

To realize fine exploration in the deep sea, this paper designed a highly maneuverable multi-joint autonomous underwater vehicle (MJ-AUV). MJ-AUV is composed of three cabins in series, which are connected mechanically and electrically through two joint systems. The rotation of the joints drives the deformation of MJ-AUV, thereby realizing a variety of maneuvering modes. Each connecting joint is driven by a two-stage bevel gear, which is compact in structure and has good strength and rigidity, and can drive the cabins to achieve two degrees of freedom (i.e., pitch and yaw) motion. Computational fluid dynamics (CFD) technology was used to build a numerical pool and calculate the added mass coefficient and drag coefficient of each cabin. The kinematics model of MJ-AUV was established and the force analysis was carried out. On this basis, the simulation environment was built through computational multi-body dynamics (MBD) software MSC Adams, which was used to systematically analyze the multiple motion states of MJ-AUV. Lake and sea trials conducted in Thousand Islet Lake, the South China Sea, Qingdao Coast, and other places have validated the actual performance of the designed MJ-AUV, including cruising mode, vertical profile motion, deep diving and water surface motion.

Methodology for Sound Quality Analysis of Motors for Automotive Interior Parts through Subjective Evaluation.

With the development of autonomous vehicles, activities in the indoor spaces of autonomous vehicles are diversifying. Therefore, as the operating range of the interior parts increases, the occupant becomes sensitive to the operating noise of autonomous vehicles. Therefore, to reduce operating noise, it is necessary to analyze the causal relationship between the mechanical/electrical noise characteristics of the motor and sound quality. In this paper, we propose a methodology to analyze the relationship between the noise frequency components and the sound quality of small motors used in automobile interior parts. Two types of motors were selected for this study, and noise measurements and analyses were performed by applying the design proposed in this study. Subjective sound quality evaluations were conducted using the 12 pairs of adjectives extracted from the survey. The results suggest that subjective sound quality evaluation scores should be converted to Z-scores to ensure the reliability of the statistical analysis. In addition, we present a critical sound quality value that can be used as a criterion for determining whether the sound quality is positive (good quality) or negative (bad quality). Sound quality regression models explain the causal relationship between rotational frequency components of the motor and subjective sound quality characteristics. Thus, a method for analyzing the effect of the rotational frequency component of the motor on the sound quality is presented, which suggests that it can be used as basic research data to improve the noise performance of the motor.