The Influence of Motion-Cueing, Sound and Vibration Feedback on Driving Behavior and Experience $-$ A Virtual Teleoperation Experiment

Driving feedback is an important factor that can affect the perceptions of remote drivers of the surrounding environment during teleoperation. This paper focuses on investigating the influence of motion-cueing, sound and vibration feedback on driving behaviour and experience. A prototype teleoperation station is developed with feedback from audio, vibration actuators, and motion cues. Using this prototype, the experiment is carried out in two scenarios: a low-speed disturbance scenario with 30 participants and a dynamic driving scenario with 22 participants. Objective and subjective assessment methods are used to evaluate driving behaviour and experience separately. The results indicate that the combination of motion-cueing, sound and vibration feedback provides the most favourable driving experience for the participants. Specifically, sound and vibration feedback enhance drivers’ sense of speed, while motion-cueing feedback helps in road surface sensing, leading to increased throttle reversal rate in the low-speed disturbance scenario. However, it is noteworthy that motion-cueing feedback does not significantly improve driving performance in the dynamic driving scenario of this study.