The Development of Advanced High Speed Vehicles in Sweden

Standards for passenger comfort in automated vehicles: Acceleration and jerk

A prime concern for automated vehicles is motion comfort, as an uncomfortable ride may reduce acceptance of the technology amongst the general population. However, it is not clear how transient motions typical for travelling by car affect the experience of comfort. Here, we determine the relation between properties of vehicle motions (i.e., acceleration and jerk) and discomfort empirically, and we evaluate the ability of normative models to account for the data. 23 participants were placed in a moving-base driving simulator and presented sinusoidial and triangular motion pulses with various peak accelerations (A_max0.4 - 2 ms^-2) and jerks (J_max0.5 - 15 ms^-3), designed to recreate typical vehicle accelerations. Participants provided discomfort judgments on absolute 'Verbal Qualifiers' and relative 'Magnitude Estimates' associated with these motions. The data show that discomfort increases with acceleration amplitude, and that the strength of this effect depends on the direction of motion. We furthermore find that higher jerks (shorter duration pulses) are considered more comfortable, and that triangular pulses are more comfortable than sinusoidal pulses. ME responses decrease (i.e., reduced discomfort) with increasing pulse duration. Evaluations of normative models of vibration and shock (ISO 2631), and perceived motion intensity provide mixed results. The vibration model could not account for the data well. Reasonable agreement between predictions and observations were found for the shock model and perceived intensity model, which emphasize the role of acceleration. We present novel statistical models that describe motion comfort as a function of acceleration, jerk, and direction. The present findings are essential to develop motion planning algorithms aimed at maximizing comfort.

Influence of different conditions for tilt compensation on symptoms of motion sickness in tilting trains

Increased speeds of trains can be achieved by using tilting trains that decrease the lateral acceleration experienced by passengers on curves, thereby allowing trains to run typically 25-30% faster on existing curved track and maintaining good ride comfort. Unfortunately, motion sickness in tilting trains is a major problem for some passengers. To investigate the incidence of motion sickness and the extent to which different tilt compensation strategies influence its occurrence, tests were conducted with a tilting train on a track with a large number of curves. Eighty healthy volunteers were studied, selected partly for their susceptibility. Three different cars were evaluated during 3 test days, with each test ride lasting about 3 h. On four occasions per test ride, the subjects answered a questionnaire concerning activities during the ride, ride comfort, ability to work and read, vegetative symptoms, fatigue, sleepiness, nausea and well-being. Subjects estimation of average ride comfort and ability to work and read was good in all conditions. However, 10% of the test subjects reported various symptoms of motion sickness (SMS). A 55% degree of tilt compensation of the lateral acceleration instead of the normal 70% reduced the symptoms of motion sickness incidence (SMSI) by 25-40%. SMSI correlated poorly with motion doses, which integrates vertical or lateral acceleration but correlated well with roll acceleration motion dose (r2 = 0.43, p < 0.001). For women, riding backward (p < 0.001) minimized SMSI, but men were insensitive to direction. Future railway design will have to optimize tilt systems by both minimizing motion sickness and avoiding excessive lateral acceleration or jerk.