## 2 State of the Art
### Driving Dynamics in Properties of Autonomous Vehicles  
Eliminating the driving task in AVs has a significant influence on the customers' demands in terms of driving dynamics. The desire for more comfortable driving conditions is gaining importance ([17], p. 10), while previous requirements, such as good feedback relating to the vehicle's driving dynamics status, are fading into the background [18; 19]. By reducing jerks and acceleration that occur, for example, through an optimized driving style or decoupling of the passenger compartment ([18], pp. 86-110); ([20], p. 5), the aim is to provide customers with a sedan-chair-like feeling ([21], p. 271). In this context, motion sickness is an important aspect to be considered. Fast accelerations and jerks not only have a negative effect on the subjectively perceived comfort but may also cause nausea [22; 23; 24].  
In addition, the elimination of the driving task affords passengers an opportunity to engage in nondriving activities. These can increase the motion sickness rate by a factor of two [25]. In addition to reducing jerks and acceleration, the task of driving dynamics in an AV is to avoid significant deviations between the occupants' visual perception and the vestibular detection of acceleration and rotational movements (rolling, pitching, yawing) [23; 25; 26; 27].  
The physical aspect alone is not sufficient to achieve a high level of comfort. Mental aspects, such as the trust that the occupants have in automation, play an essential role. According to [PERSON] and [PERSON] [28], co-drivers of a manual vehicle evaluate the driving comfort mainly by the driving style of the driver. It is assumed that this effect can be transferred to AVs [29; 30].  
For example, the sole use of a safe driving style is not sufficient to gain occupant confidence in automation. The driving style must show passengers a particularly safe driving behavior in order to be accepted by users [29]. This is achieved by maintaining large safety distances, avoiding driving maneuvers that are perceived as hectic, and driving with an emphasis on anticipation ([20], p. 15; [24; 29; 31]). The logic behind the decisions made by the driving style must be apparent so that the occupants can interpret the decisions [32].  
Furthermore, the use of a driving style that imitates human driving behavior increases the acceptance of automation [29; 33]. Human drivers are characterized by continuous steering input [34; 35], which can be simulated by using clothoids or fifth-degree polynomials for trajectory planning, resulting in a curvature-continuous path [29; 36].  
However, the driving style of an AV is not characterized by comfort only. It is a multidimensional construct that combines requirements for comfort [28; 29; 30; 37; 38], safety [29; 37; 38; 39], economic efficiency [37; 38; 40], and travel time ([20], p. 16; [39]). Measures to optimize one dimension can influence other dimensions positively or negatively or have no influence on them. Consideration of these cross-influences is essential for  
Figure 3: Control loop of highly automated and autonomous vehicles.  
overall customer-oriented vehicle development. For example, when considering the dimensions of comfort and travel time, there is a conflict arising in the objectives in the first step. A faster, more dynamic driving style is perceived by occupants as less comfortable ([20], p. 5). Technical measures, such as active chassis control, allow for the Pareto front (which exists between the two dimensions) to be shifted so that shorter travel time can be achieved with greater ride comfort ([18], p. 16).  
Taking this example into consideration, it can be deduced that the adaptability of driving style and chassis is indispensable for meeting differing requirements in all four dimensions at the same time. The degree of technical specification, as well as the selected application, result in a grading of customer value by which the manufacturers can differentiate themselves.