Vehicle motion planning for ride comfort using subjective vertical conflict model

As the next step regarding vehicle motion planning techniques for self-driving vehicles, controlling the optimal behavior of the passenger is attracting attention. This paper discusses a nonlinear model predictive control (NMPC) method for vehicle motion planning that controls passenger behaviors. In this paper, a nonlinear passenger model is incorporated into NMPC for vehicle motion planning to suppress the motion causing discomfort to the passenger. In addition, ride comfort is evaluated based on the passenger's motion perception characteristics obtained from the subjective vertical conflict model. Copyright (C) 2024 The Authors.