Perceptual scaling of visual and inertial cues: effects of field of view, image size, depth cues, and degree of freedom

Impaired stationarity perception is associated with increased virtual reality sickness

Stationarity perception refers to the ability to accurately perceive the surrounding visual environment as world-fixed during self-motion. Perception of stationarity depends on mechanisms that evaluate the congruence between retinal/oculomotor signals and head movement signals. In a series of psychophysical experiments, we systematically varied the congruence between retinal/oculomotor and head movement signals to find the range of visual gains that is compatible with perception of a stationary environment. On each trial, human subjects wearing a head-mounted display execute a yaw head movement and report whether the visual gain was perceived to be too slow or fast. A psychometric fit to the data across trials reveals the visual gain most compatible with stationarity (a measure of accuracy) and the sensitivity to visual gain manipulation (a measure of precision). Across experiments, we varied 1) the spatial frequency of the visual stimulus, 2) the retinal location of the visual stimulus (central vs. peripheral), and 3) fixation behavior (scene-fixed vs. head-fixed). Stationarity perception is most precise and accurate during scene-fixed fixation. Effects of spatial frequency and retinal stimulus location become evident during head-fixed fixation, when retinal image motion is increased. Virtual Reality sickness assessed using the Simulator Sickness Questionnaire covaries with perceptual performance. Decreased accuracy is associated with an increase in the nausea subscore, while decreased precision is associated with an increase in the oculomotor and disorientation subscores.

Validation of a moving base driving simulator for motion sickness research

Increasing levels of vehicle automation are envisioned to allow drivers to engage in other activities but are also likely to increase the incidence of Carsickness or Motion Sickness (MS). Ideally, MS is studied in a safe and controlled environment, such as a driving simulator. However, only few studies address the suitability of driving simulators to assess MS. In this study, we validate a moving base driving simulator for MS research by comparing the symptoms and time course of MS between a real-road driving scenario and a rendition of this scenario in a driving simulator, using a within-subjects design. 25 participants took part as passengers in an experiment with alternating sections (slaloming, stop-and-go) with normal and provocative driving styles. Participants performed Sudoku puzzles (eyes-off-road) during both scenarios and reported MIsery SCale (MISC) scores at 30 s intervals. Motion Sickness Assessment Questionnaire (MSAQ) scores were collected upon completion of either scenario. Overall, the results indicate that MS was more severe in the car than in the simulator. Nevertheless, significant correlations were found between individual MS in the car and simulator for 3 out of 4 MSAQ symptom categories (0.48 < r < 0.73, p < 0.02), with a strong overall correlation (r = 0.57, p = 0.004). MS onset times were similar between the car and the simulator, and sickness fluctuations as a result of driving style showed a similar pattern between scenarios, albeit more pronounced in the car. Based on observed similarities in MS, we conclude these simulator results to have relative validity. We attribute the observed reduction of MS severity in the simulator to the downscaling of the motion by the Motion Cueing Algorithm (MCA). These results suggest that, at least in eyes-off-road conditions, findings on MS from simulator studies may generalize to real vehicles after application of a conversion factor. This conversion factor is likely to depend on simulator and MCA characteristics.

Influence of Sensory Conflict on Perceived Timing of Passive Rotation in Virtual Reality

Integration of incoming sensory signals from multiple modalities is central in the determination of self-motion perception. With the emergence of consumer virtual reality (VR), it is becoming increasingly common to experience a mismatch in sensory feedback regarding motion when using immersive displays. In this study, we explored whether introducing various discrepancies between the vestibular and visual motion would influence the perceived timing of self-motion. Participants performed a series of temporal-order judgements between an auditory tone and a passive whole-body rotation on a motion platform accompanied by visual feedback using a virtual environment generated through a head-mounted display. Sensory conflict was induced by altering the speed and direction by which the movement of the visual scene updated relative to the observer's physical rotation. There were no differences in perceived timing of the rotation without vision, with congruent visual feedback and when the speed of the updating of the visual motion was slower. However, the perceived timing was significantly further from zero when the direction of the visual motion was incongruent with the rotation. These findings demonstrate the potential interaction between visual and vestibular signals in the temporal perception of self-motion. Additionally, we recorded cybersickness ratings and found that sickness severity was significantly greater when visual motion was present and incongruent with the physical motion. This supports previous research regarding cybersickness and the sensory conflict theory, where a mismatch between the visual and vestibular signals may lead to a greater likelihood for the occurrence of sickness symptoms.

Moving base driving simulators' potential for carsickness research

We investigated whether motion sickness analogous to carsickness can be studied in a moving base simulator, despite the limited motion envelope. Importantly, to avoid simulator sickness, vision outside the simulator cabin was restricted. Participants (N = 16) were exposed blindfolded to 15-min lateral sinusoidal motion at 0.2 Hz and 0.35 Hz on separate days. These conditions were selected to realize optimal provocativeness of the stimulus given the simulator's maximum displacement and knowledge on frequency-acceleration interactions for motion sickness. Average motion sickness on an 11-point scale was 2.21 ± 1.97 for 0.2 Hz and 1.93 ± 1.94 for 0.35 Hz. The motion sickness increase over time was comparable to that found in studies using actual vehicles. We argue that motion base simulators can be used to incite motion sickness analogous to carsickness, provided considerable restrictions on vision. Future research on carsickness, potentially more prevalent in autonomous vehicles, could benefit from employing simulators.

Sensitivity to Visual Speed Modulation in Head-Mounted Displays Depends on Fixation

A primary cause of simulator sickness in head-mounted displays (HMDs) is conflict between the visual scene displayed to the user and the visual scene expected by the brain when the user's head is in motion. It is useful to measure perceptual sensitivity to visual speed modulation in HMDs because conditions that minimize this sensitivity may prove less likely to elicit simulator sickness. In prior research, we measured sensitivity to visual gain modulation during slow, passive, full-body yaw rotations and observed that sensitivity was reduced when subjects fixated a head-fixed target compared with when they fixated a scene-fixed target. In the current study, we investigated whether this pattern of results persists when (1) movements are faster, active head turns, and (2) visual stimuli are presented on an HMD rather than on a monitor. Subjects wore an Oculus Rift CV1 HMD and viewed a 3D scene of white points on a black background. On each trial, subjects moved their head from a central position to face a 15° eccentric target. During the head movement they fixated a point that was either head-fixed or scene-fixed, depending on condition. They then reported if the visual scene motion was too fast or too slow. Visual speed on subsequent trials was modulated according to a staircase procedure to find the speed increment that was just noticeable. Sensitivity to speed modulation during active head movement was reduced during head-fixed fixation, similar to what we observed during passive whole-body rotation. We conclude that fixation of a head-fixed target is an effective way to reduce sensitivity to visual speed modulation in HMDs, and may also be an effective strategy to reduce susceptibility to simulator sickness.

Towards dynamic modeling of visual-vestibular conflict detection

Visual-vestibular mismatch is a common occurrence, with causes ranging from vehicular travel, to vestibular dysfunction, to virtual reality displays. Behavioral and physiological consequences of this mismatch include adaptation of reflexive eye movements, oscillopsia, vertigo, and nausea. Despite this significance, we still do not have a good understanding of how the nervous system evaluates visual-vestibular conflict. Here we review research that quantifies perceptual sensitivity to visual-vestibular conflict and factors that mediate this sensitivity, such as noise on visual and vestibular sensory estimates. We emphasize that dynamic modeling methods are necessary to investigate how the nervous system monitors conflict between time-varying visual and vestibular signals, and we present a simple example of a drift-diffusion model for visual-vestibular conflict detection. The model makes predictions for detection of conflict arising from changes in both visual gain and latency. We conclude with discussion of topics for future research.

Can We Study Autonomous Driving Comfort in Moving-Base Driving Simulators? A Validation Study

OBJECTIVE

To lay the basis of studying autonomous driving comfort using driving simulators, we assessed the behavioral validity of two moving-base simulator configurations by contrasting them with a test-track setting.

BACKGROUND

With increasing level of automation, driving comfort becomes increasingly important. Simulators provide a safe environment to study perceived comfort in autonomous driving. To date, however, no studies were conducted in relation to comfort in autonomous driving to determine the extent to which results from simulator studies can be transferred to on-road driving conditions.

METHOD

Participants ( N = 72) experienced six differently parameterized lane-change and deceleration maneuvers and subsequently rated the comfort of each scenario. One group of participants experienced the maneuvers on a test-track setting, whereas two other groups experienced them in one of two moving-base simulator configurations.

RESULTS

We could demonstrate relative and absolute validity for one of the two simulator configurations. Subsequent analyses revealed that the validity of the simulator highly depends on the parameterization of the motion system.

CONCLUSION

Moving-base simulation can be a useful research tool to study driving comfort in autonomous vehicles. However, our results point at a preference for subunity scaling factors for both lateral and longitudinal motion cues, which might be explained by an underestimation of speed in virtual environments.

APPLICATION

In line with previous studies, we recommend lateral- and longitudinal-motion scaling factors of approximately 50% to 60% in order to obtain valid results for both active and passive driving tasks.

A review of human sensory dynamics for application to models of driver steering and speed control

In comparison with the high level of knowledge about vehicle dynamics which exists nowadays, the role of the driver in the driver-vehicle system is still relatively poorly understood. A large variety of driver models exist for various applications; however, few of them take account of the driver's sensory dynamics, and those that do are limited in their scope and accuracy. A review of the literature has been carried out to consolidate information from previous studies which may be useful when incorporating human sensory systems into the design of a driver model. This includes information on sensory dynamics, delays, thresholds and integration of multiple sensory stimuli. This review should provide a basis for further study into sensory perception during driving.