自动驾驶汽车的一个主要问题是运动舒适度，因为不舒服的乘坐可能会降低普通人群对该技术的接受度。然而，目前尚不清楚汽车旅行中典型的瞬态运动如何影响舒适体验。在这里，我们根据经验确定车辆运动特性（即加速度和加加速度）与不适感之间的关系，并评估规范模型解释数据的能力。23 名参与者被放置在移动基础驾驶模拟器中，并呈现具有各种峰值加速度 ( A max 0.4 - 2 ms -2 ) 和急动 ( J max 0.5 - 15 ms -3 ) 的正弦和三角运动脉冲)，旨在重现典型的车辆加速度。参与者对与这些动作相关的绝对“语言限定词”和相对“幅度估计”提供了不适判断。数据表明，不适感随着加速度幅度的增加而增加，并且这种影响的强度取决于运动的方向。我们进一步发现，较高的抽动（较短持续时间的脉冲）被认为更舒适，并且三角形脉冲比正弦脉冲更舒适。ME 反应随着脉冲持续时间的增加而降低（即不适感降低）。对振动和冲击规范模型 (ISO 2631) 和感知运动强度的评估提供了不同的结果。振动模型不能很好地解释数据。对于强调加速度的作用的冲击模型和感知强度模型，发现预测和观察之间存在合理的一致性。我们提出了新颖的统​​计模型，将运动舒适度描述为加速度、加加速度和方向的函数。目前的发现对于开发旨在最大化舒适度的运动规划算法至关重要。

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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 (Amax0.4 − 2 ms−2) and jerks (Jmax0.5 − 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.