自动驾驶车辆乘坐舒适性评价研究综述

doi:10.19562/j.chinasae.qcgc.2024.09.009

Abstract

Abstract:

With the rapid development of automated driving technology， ride comfort has become a key factor affecting user acceptance and overall experience with automated vehicles. In this paper， a comprehensive review of the current state of research concerning the evaluation of riding comfort in automated vehicles is presented. Firstly， the concept of comfort is thoroughly articulated， followed by an analysis of key factors influencing ride comfort. Subsequently， the quantitative indicators and evaluation models pertinent to automated vehicles are classified and elaborated in detail. The quantitative indicators are classified into four categories： subjective indicators， indicators derived from vehicle parameters， indicators based on physiological signals， and indicators related to driver behaviour. The evaluation models encompass psychophysical models， biomechanical models， statistical models， and learning-based evaluation models. Finally， prospective trends in the research of comfort in automated vehicles is brought forward， thereby offering a technical framework for further studies on the system design and user experience in this domain.

Key words: automated vehicles, ride comfort, quantitative indicators, evaluation model, review

Guojuan Zhang,Hongyu Hu,Haomiao Li,Mingjian Wang,Fei Gao,Zhenhai Gao. A Survey on Ride Comfort Evaluation of Autonomous Vehicles[J].Automotive Engineering, 2024, 46(9): 1617-1627.

Figures/Tables 7

加速度均方根值 $a w$ /（m·s^-2）	加权振级 $L a w$ /dB	人的主观感觉
<0.315	<110	没有不舒适
0.315~0.63	110~116	有一些不舒适
0.5~1.0	114~120	相当不舒适
0.8~1.6	118~124	不舒适
1.25~2.5	112~128	很不舒适
>2.0	>126	极不舒适

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1	2	3	4	5	6	7	8	9	10
不可接受				边界线	可接受
有条件地记为
所有测试者		多数测试者		某些测试者	关键测试者		经验测试者		未观察
无法接受	严重不适	非常差	差	临界	勉强接受	较好	好	非常好	极好
1	2	3	4	5	6	7	8	9	10

文献	车辆参数	年份	舒适性量化指标	舒适性/不舒适性阈值范围
［15］	车速加速度加速度变化率	2009	车速5-20 m/s下的车辆纵向加速度/（m·s^-2）	<-3.5（20 m/s）~-5（5 m/s）
			车速5-20 m/s下的车辆纵向减速度/（m·s^-2）	<2（20 m/s）~4（5 m/s）
			车速5-20 m/s下的车辆纵向加速度变化率/（m·s^-3）	<2.5（20 m/s）~5（5 m/s）
［28］	加速度加速度变化率	2020	横向加速度/（m·s^-2）	\|a\|<0.9（公共交通）
				0.9<\|a\|<4（正常型）
				4<\|a\|<5.6（激进型）
				5.6<\|a\|<7.6（极度激进型）
			纵向加速度/（m·s^-2）	\|a\|<0.9（公共交通）
				-2.0<a<-0.9；0.9<a<1.47（正常型）
				-5.08<a<-2.0；1.47<a<3.07（激进型）
				3.07<a<7.6（极度激进型）
				-7.6<a<-5.08（紧急制动）
			横向加速度变化率/（m·s^-3）	\|z\|<0.6（公共交通）
				0.6<\|z\|<0.9（正常型）
				0.9<\|z\|<2.0（激进型）
			纵向加速度变化率/（m·s^-3）	\|z\|<0.6（公共交通）
				0.6<\|z\|<0.9（正常型）
				0.9<\|z\|<2.0（激进型）
［32］	加速度	2016	纵向加速度	0~0.14g（轻轨交通）
				0.14g~0.25g（保守型）
				0.25g~0.50g（自信型）
			纵向减速度	0~-0.14g（轻轨交通）
				-0.14g~-0.33g（保守型）
				-0.33g~-0.76g（自信型）
			横向加速度	0~0.15g（轻轨交通）
				0.15g~0.42g（保守型）
				0.42g~0.54g（自信型）
			垂向加速度	0~0.16g（保守型）
			垂向加速度	0.16g~0.66g（自信型）
［29］	加速度加速度变化率	2022	横向加速度	<0.15g
［29］	加速度加速度变化率	2022	横向加速度变化率	<0.25g/s
［33］	加速度	2015	横向加速度/（m·s^-2）	<1.8（可接受）
				1.8~3.6（能够忍受）
				>5（超出承受范围）
［26］	加速度	1997	加速度均方根值/（m·s^-2）	<0.315（没有不舒适）
				0.315~0.63（有一些不舒适）
				0.5~1.0（相当不舒适）
				0.8~1.6（不舒适）
				1.25~2.5（很不舒适）
				>2.0（极不舒适）

文献	生理信号	年份	应用场景
［35］	心率、皮肤电、眼动	2022	乘员对L2级自动驾驶的信任与风险感知
［36］	心率变异性	2021	L2级自适应巡航系统的乘坐舒适性
［37］	心率、皮肤电、眼动	2019	高度自动驾驶车辆的乘坐舒适性
［39］	肌电、汗液	2015	自动驾驶货车的乘坐舒适性
［40］	肌电	2021	自动驾驶车辆不同悬挂类型的乘坐舒适性
［9］	近红外脑功能成像	2023	乘员对自动驾驶车辆的信任程度
［41］	脑电	2016	乘员乘坐车辆的晕动状态评估
［38］	肌电	2013	标准障碍测试工况下的乘坐舒适性
［42］	静态体压	2000	车辆座椅的静态乘坐舒适性
［43］	静态体压	2012
［44］	静态体压	2023
［45］	动态体压	2022	车辆座椅的动态乘坐舒适性

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A Survey on Ride Comfort Evaluation of Autonomous Vehicles

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