멀미 저감을 위한 제약조건이 있는 모델 예측 제어

Abstract

In recent years, Adaptive cruise control (ACC) has been used for a long time in autonomous drivingsystems, but most of the research focused on driving ability without considering the passengers. Therefore,there is a need for research on autonomous driving to reduce motion sickness by increasing ride comfort. Thiswork proposes ACC to reduce motion sickness using Model predictive control (MPC). In the MPC framework,cost functions and constraints are used to find optimal control inputs using human data. The ACC scenario wassimulated in MATLAB/Simulink and we confirmed that the proposed controller could reduce motion sicknesscompared to other methods.