Teleoperation is considered as a viable option to control fully automated vehicles (AVs) of Level 4 and 5 in special conditions. However, by bringing the remote drivers in the loop, their driving experience should be realistic to secure safe and comfortable remote control.Therefore, the remote control tower should be designed such that remote drivers receive high quality cues regarding the vehicle state and the driving environment. In this direction, the steering feedback could be manipulated to provide feedback to the remote drivers regarding how the vehicle reacts to their commands. However, until now, it is unclear how the remote drivers' steering feel could impact occupant's motion comfort. This paper focuses on exploring how the driver feel in remote (RD) and normal driving (ND) are related with motion comfort. More specifically, different types of steering feedback controllers are applied in (a) the steering system of a Research Concept Vehicle-model E (RCV-E) and (b) the steering system of a remote control tower. An experiment was performed to assess driver feel when the RCV-E is normally and remotely driven. Subjective assessment and objective metrics are employed to assess drivers' feel and occupants' motion comfort in both remote and normal driving scenarios. The results illustrate that motion sickness and ride comfort are only affected by the steering velocity in remote driving, while throttle input variations affect them in normal driving. The results demonstrate that motion sickness and steering velocity increase both around 25$\%$ from normal to remote driving.

翻译：遥操作被认为是控制L4和L5级全自动驾驶车辆在特殊条件下运行的可行方案。然而，将远程驾驶员纳入控制回路后，其驾驶体验应足够真实，以确保安全舒适的远程操控。因此，远程控制工作站的设计需使远程驾驶员能获得关于车辆状态和驾驶环境的高质量感知线索。在此方向上，转向力反馈可被调节以向远程驾驶员传递车辆对其指令的响应信息。但目前尚不明确远程驾驶员的转向手感如何影响乘客的运动舒适性。本文重点探索远程驾驶与传统驾驶中驾驶员手感与运动舒适性之间的关系。具体而言，在(a)研究概念车E型(RCV-E)的转向系统与(b)远程控制工作站的转向系统中分别应用了不同类型的转向力反馈控制器。通过实验评估RCV-E在正常驾驶与远程驾驶模式下的驾驶员手感。采用主观评价与客观指标相结合的方法，分析两种驾驶场景中驾驶员手感与乘客运动舒适性。结果表明，远程驾驶中仅转向速度影响晕动症与乘坐舒适性，而正常驾驶中油门输入变化起主导作用。研究数据揭示，从正常驾驶切换至远程驾驶时，晕动症发生率与转向速度均增加约25%。