This article outlines the architecture of autonomous driving and related complementary frameworks from the perspective of human comfort. The technical elements for measuring Autonomous Vehicle (AV) user comfort and psychoanalysis are listed here. At the same time, this article introduces the technology related to the structure of automatic driving and the reaction time of automatic driving. We also discuss the technical details related to the automatic driving comfort system, the response time of the AV driver, the comfort level of the AV, motion sickness, and related optimization technologies. The function of the sensor is affected by various factors. Since the sensor of automatic driving mainly senses the environment around a vehicle, including "the weather" which introduces the challenges and limitations of second-hand sensors in autonomous vehicles under different weather conditions. The comfort and safety of autonomous driving are also factors that affect the development of autonomous driving technologies. This article further analyzes the impact of autonomous driving on the user's physical and psychological states and how the comfort factors of autonomous vehicles affect the automotive market. Also, part of our focus is on the benefits and shortcomings of autonomous driving. The goal is to present an exhaustive overview of the most relevant technical matters to help researchers and application developers comprehend the different comfort factors and systems of autonomous driving. Finally, we provide detailed automated driving comfort use cases to illustrate the comfort-related issues of autonomous driving. Then, we provide implications and insights for the future of autonomous driving.

本文从人类的舒适性角度，概述了自动驾驶的体系结构和相关补充框架，列举了测量自动驾驶用户舒适度和心理分析的技术要素，讨论了自动驾驶舒适系统、AV驾驶员响应时间、AV 的舒适水平、晕车以及相关优化技术的技术细节，分析了自动驾驶对用户身体和心理状态的影响以及舒适性因素对汽车市场的影响，并提供了详细的自动驾驶舒适使用案例以说明自动驾驶的舒适问题。

自动驾驶车辆的运动舒适性优化：概念、方法和技术