2021 JSAE Award The Outstanding Technical Paper Award1. IntroductionTechnical Awardsincreasingly advanced, setting the travel path is important for controlling vehicle dynamics. Research has focused on generating travel paths while considering the motion perception of the driver(1) and also on setting travel paths that can reduce the occurrence of car sickness among passengers, which can degrade the ride quality.(2)As a research approach that focuses on passenger behavior, the use of a model that represents the behaviors of the bodies of passengers can be considered. In cases where the vehicle motion is known, a method for analyzing the behavior of passengers has been proposed,(3) and the impacts of the travel path have been investigated.(4)Previous value-creating research includes analyses of the timing of the inertial force application to the bodies of passengers and its effects on the autonomous posture control of passengers;(5) the creation of the vehicle acceleration that stimulates the motion perception of passengers, enables passengers to recognize vehicle motion, and assists passengers in preparing their posture for motion has also been evaluated.(6) The approach of focusing on the senses and body movement mechanisms, including car sickness, is gaining importance as the understanding of humans has become increasingly advanced.Considering the aforementioned preceding research, the establishment of a method for exploring vehicle behaviors that suppress the body behavior of passengers and the amount of accompanying motion perception under an assumed travel scene can be expected. Therefore, to respond to such expectations in this study, the research that the authors have been conducting ———the exploration of vehicle motion that optimizes the evaluation values set by applying optimal control ———was designated as an inverse vehicle dynamics analysis method,(7) and the scope of this method was *Nissan Research Center Mobility & AI Laboratory **Customer Performance and Test Engineering Methodology Innovation Department***AD/ADAS and Chassis Control System Engineering DepartmentAbstract A passengerʼs passive motion, as a result of the vehicleʼs motion, impacts ride quality. So, we built the methodology to explore desirable passenger body motion, under a fixed driving task, by employing inverse dynamics analysis based on optimal control. First, we embedded a passenger body model in a vehicle model using a set formula. Next, we developed a soft sensor model so that acceleration and jerk could be integrated into the cost function for minimizing by optimal control. Then, inverse dynamics simulation was becoming executable to derive vehicle motion meets to the aiming passengerʼs passive motion. Designing passenger motion will lead to the understanding of human perception on vehicle.This study aimed to establish a method for analyzing the effects of vehicle dynamics on non-driving passengers from the perspective of ride quality. With regard to ride quality, ride comfort is normally considered, which is affected by the vehicle motion in the direction perpendicular to the road surface. In the future, when autonomous driving becomes common, driving tasks will be conducted independently from that of humans. Therefore, to create a comfortable moving space, the vehicle dynamics in the direction parallel to the road surface will also be an important research subject.The body of a passenger is moved by an inertial force that is generated by the acceleration of the vehicle. Therefore, the passenger may experience some discomfort due to the body movement. Although the application of an inertial force to the body of the driver, which is the result of his or her own driving style, might be a positive experience for some drivers, this force is usually a cause of discomfort for passengers. Hence, body movement must be restrained by the seat and a restraint device if high-acceleration motion, such as emergency evasion, is necessary. However, within the range of normal driving, it is desirable to enhance ride quality by devising the vehicle motion such that the effect of the inertia force on the passengers is reduced.In this regard, it is important to determine how vehicle dynamics should be perceived to enhance the ride quality of passengers. The main factors related to vehicle acceleration are
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