{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T05:08:07Z","timestamp":1787029687455,"version":"build-2736575974"},"reference-count":31,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T00:00:00Z","timestamp":1738108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Technology Innovation Program","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}]},{"name":"Technology Innovation Program","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}]},{"name":"Technology Innovation Program","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}]},{"name":"Ministry of Trade, Industry &amp; Energy (MOTIE, KOREA)","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}]},{"name":"Ministry of Trade, Industry &amp; Energy (MOTIE, KOREA)","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}]},{"name":"Ministry of Trade, Industry &amp; Energy (MOTIE, KOREA)","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}]},{"name":"Institute of Information &amp; Communications Technology Planning &amp; Evaluation (IITP)","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}]},{"name":"Institute of Information &amp; Communications Technology Planning &amp; Evaluation (IITP)","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}]},{"name":"Institute of Information &amp; Communications Technology Planning &amp; Evaluation (IITP)","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}]},{"name":"Korea government (MSIT)","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}]},{"name":"Korea government (MSIT)","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}]},{"name":"Korea government (MSIT)","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}]},{"DOI":"10.13039\/501100003661","name":"Korea Institute for Advancement of Technology","doi-asserted-by":"publisher","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}],"id":[{"id":"10.13039\/501100003661","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003661","name":"Korea Institute for Advancement of Technology","doi-asserted-by":"publisher","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}],"id":[{"id":"10.13039\/501100003661","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003661","name":"Korea Institute for Advancement of Technology","doi-asserted-by":"publisher","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}],"id":[{"id":"10.13039\/501100003661","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Korea government (MOTIE)","award":["RS-2024-00468436"],"award-info":[{"award-number":["RS-2024-00468436"]}]},{"name":"Korea government (MOTIE)","award":["IITP-2024-00156287"],"award-info":[{"award-number":["IITP-2024-00156287"]}]},{"name":"Korea government (MOTIE)","award":["P0020536"],"award-info":[{"award-number":["P0020536"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This study introduces a motion-sickness-reducing control strategy aimed at enhancing ride comfort in Electric Autonomous Vehicles (EAVs). For lateral control, the forward look-ahead distance was adaptively adjusted based on the Motion Sickness Dose Value (MSDV) analysis from ISO 2631-1, effectively mitigating lateral acceleration and its motion-sickness-related frequency components, leading to a reduced MSDV. For longitudinal control, Linear Quadratic Regulator (LQR) optimal control was applied to minimize acceleration, complemented by a band-stop filter specifically designed to attenuate motion-sickness-inducing frequencies in the acceleration input. The bandwidth of the band-stop filter used in this study was designed based on the motion-sickness frequency weighting specified in ISO 2631-1. The simulation results of the proposed control indicate a significant reduction in MSDV, decreasing from 16.3 to 10.46, achieving up to a 35.8% improvement compared to comparative control methods. While the average lateral position error was slightly higher than that of the comparative controller, the vehicle consistently maintained lane adherence throughout path-following tasks. These findings underscore the potential of the proposed method to simultaneously mitigate motion sickness and achieve a robust path-following performance in autonomous vehicles.<\/jats:p>","DOI":"10.3390\/s25030819","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T04:01:39Z","timestamp":1738209699000},"page":"819","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Frequency Shaping-Based Control Framework for Reducing Motion Sickness in Autonomous Vehicles"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-7248-134X","authenticated-orcid":false,"given":"Soomin","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Future Mobility Convergence, Chonnam National University, Gwangju 61186, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-0903-3536","authenticated-orcid":false,"given":"Chunhwan","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Intelligent Mobility, Chonnam National University, Gwangju 61186, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-0714-0909","authenticated-orcid":false,"given":"Chulwoo","family":"Moon","sequence":"additional","affiliation":[{"name":"Department of Intelligent Mobility, Chonnam National University, Gwangju 61186, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Liang, X., Wang, T., Yang, L., and Xing, E. (2018, January 8\u201314). CIRL: Controllable imitative reinforcement learning for vision-based self-driving. Proceedings of the European Conference on Computer Vision (ECCV), Munich, Germany.","DOI":"10.1007\/978-3-030-01234-2_36"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Folkers, A., Rick, M., and B\u00fcskens, C. (2019, January 9\u201312). Controlling an autonomous vehicle with deep reinforcement learning. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Paris, France.","DOI":"10.1109\/IVS.2019.8814124"},{"key":"ref_3","first-page":"1586","article-title":"Lateral vehicle trajectory optimization using constrained linear time-varying MPC","volume":"18","author":"Gutjahr","year":"2017","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Moazen, I., Burgio, P., and Castellano, A. (2022, January 7\u201310). Motion Sickness Minimization Alerting System Using the Next Curvature Topology. Proceedings of the 2022 IEEE International Conference on Mechatronics and Automation, Guilin, China.","DOI":"10.1109\/ICMA54519.2022.9856280"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/s10111-018-0484-0","article-title":"How can humans understand their automated cars? HMI principles, problems and solutions","volume":"21","author":"Carsten","year":"2018","journal-title":"Cogn. Technol. Work."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"7771","DOI":"10.15282\/ijame.17.1.2020.23.0578","article-title":"Gaining situation awareness through a vibrotactile display to mitigate motion sickness in fully-automated driving cars","volume":"17","author":"Yusof","year":"2020","journal-title":"Int. J. Automot. Mech. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"103068","DOI":"10.1016\/j.apergo.2020.103068","article-title":"Knowing what\u2019s coming: Anticipatory audio cues can mitigate motion sickness","volume":"85","author":"Kuiper","year":"2020","journal-title":"Appl. Ergon."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1313","DOI":"10.1080\/00140139.2022.2028902","article-title":"Mitigating motion sickness in automated vehicles with vibration cue system","volume":"65","author":"Li","year":"2022","journal-title":"Ergonomics"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Diels, C., and Bos, J.E. (2015, January 1\u20134). User interface considerations to prevent self-driving car sickness. Proceedings of the 7th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (AutomotiveUI \u201915), Nottingham, UK.","DOI":"10.1145\/2809730.2809754"},{"key":"ref_10","first-page":"1111","article-title":"Motion sickness symptoms in a ship motion simulator: Effects of inside, outside, and no view","volume":"76","author":"Bos","year":"2005","journal-title":"Aviat. Space Environ. Med."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"34003","DOI":"10.1109\/ACCESS.2022.3162221","article-title":"Ride VR: Reducing Sickness for In-Car Virtual Reality by Mixed-in Presentation of Motion Flow Information","volume":"10","author":"Cho","year":"2022","journal-title":"IEEE Access"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Gao, Z., Xia, X., Liao, Y., Ning, D., and Du, H. (2021, January 19\u201322). Optimization of electrically interconnected suspension for vibration control. Proceedings of the 2021 IEEE International Conference on Intelligent Transportation Systems (ITSC), Indianapolis, IN, USA.","DOI":"10.1109\/ITSC48978.2021.9564470"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"716","DOI":"10.4028\/www.scientific.net\/AMR.683.716","article-title":"Research on the fuzzy control for vehicle semi-active suspension","volume":"683","author":"Hu","year":"2013","journal-title":"Adv. Mater. Res."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s10010-018-0272-2","article-title":"Aktive Luftfederung\u2014Modellierung, Regelung und Hardware-in-the-loop-experimente","volume":"82","author":"Lenz","year":"2018","journal-title":"Forsch. Im Ingenieurwesen"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"62709","DOI":"10.1109\/ACCESS.2024.3386863","article-title":"Mitigating Motion Sickness in Autonomous Vehicles for Improved Passenger Comfort","volume":"12","author":"Wadi","year":"2024","journal-title":"IEEE Access"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"304","DOI":"10.1109\/TITS.2022.3215175","article-title":"Motion Sickness Mitigating Algorithms and Control Strategy for Autonomous Vehicles","volume":"24","author":"Siddiqi","year":"2023","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_17","unstructured":"(1997). Mechanical Vibration and Shock\u2014Evaluation of Human Exposure to Whole-Body Vibration\u2014Part 1: General Requirements (Standard No. ISO 2631-1:1997)."},{"key":"ref_18","unstructured":"Bos, J.E. (2018, January 5\u20137). Motion sickness, simulator sickness, and automated vehicles. Proceedings of the Driving Simulation and Virtual Reality Conference Europe, Antibes, France."},{"key":"ref_19","first-page":"640","article-title":"Effect of magnitude and direction of horizontal oscillation on motion sickness","volume":"73","author":"Griffin","year":"2002","journal-title":"Aviat. Space Environ. Med."},{"key":"ref_20","first-page":"396","article-title":"Frequency effect of 0.35\u20131.0 Hz horizontal translational oscillation on motion sickness and the somatogravic illusion","volume":"68","author":"Golding","year":"1997","journal-title":"Aviat. Space Environ. Med."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1231","DOI":"10.1243\/0954407042580093","article-title":"An experimental study of low-frequency motion in cars","volume":"218","author":"Griffin","year":"2004","journal-title":"Proc. Inst. Mech. Eng. Part D J. Automob. Eng."},{"key":"ref_22","first-page":"449","article-title":"Development of lateral control system for autonomous vehicle based on adaptive pure pursuit algorithm","volume":"15","author":"Park","year":"2014","journal-title":"Int. J. Automot. Technol."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.automatica.2023.111456","article-title":"Approximate Dynamic Programming for Constrained Linear Systems: A Piecewise Quadratic Approximation Approach","volume":"160","author":"He","year":"2024","journal-title":"Automatica"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1656","DOI":"10.1109\/JAS.2024.124212","article-title":"Finite-Time Stabilization for Constrained Discrete-Time Systems by Using Model Predictive Control","volume":"11","author":"Zhu","year":"2024","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Allen, R.W., Magdaleno, R.E., Serafin, C., Eckert, S., and Sieja, T. (1997). Driver-Car Following Behaviour Under Test Track and One-Road Driving Conditions, Society of Automotive Engineers. SAE Paper 970170.","DOI":"10.4271\/970170"},{"key":"ref_26","first-page":"67","article-title":"Horizontal-Alignment Design Consistency for Rural Two-Lane Roads","volume":"1474","author":"Krammes","year":"1995","journal-title":"Transp. Res. Rec."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"102917","DOI":"10.1016\/j.trc.2020.102917","article-title":"Classifying Travelers\u2019 Driving Style Using Basic Safety Messages Generated by Connected Vehicles: Application of Unsupervised Machine Learning","volume":"122","author":"Mohammadnazar","year":"2021","journal-title":"Transp. Res. Part C Emerg. Technol."},{"key":"ref_28","first-page":"1","article-title":"Driving style analysis using recurrent neural networks with LSTM cells","volume":"11","year":"2020","journal-title":"J. Adv. Inf. Technol."},{"key":"ref_29","unstructured":"Deng, Z., Hu, W., Sun, C., Chu, D., Huang, T., Li, W., Yu, C., Pirani, M., Cao, D., and Khajepour, A. (2024). Eliminating Uncertainty of Driver\u2019s Social Preferences for Lane Change Decision-Making in Realistic Simulation Environment. IEEE Trans. Intell. Transp. Syst., 1\u201315."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"22549","DOI":"10.1109\/TITS.2022.3209607","article-title":"Decision making for connected automated vehicles at urban intersections considering social and individual benefits","volume":"23","author":"Hang","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"10420","DOI":"10.1109\/TITS.2023.3273572","article-title":"Brain-Inspired Modeling and Decision-Making for Human-Like Autonomous Driving in Mixed Traffic Environment","volume":"24","author":"Hang","year":"2023","journal-title":"IEEE Trans. Intell. Transp. Syst."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/3\/819\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T10:38:35Z","timestamp":1759919915000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/3\/819"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,29]]},"references-count":31,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2025,2]]}},"alternative-id":["s25030819"],"URL":"https:\/\/doi.org\/10.3390\/s25030819","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,29]]}}}