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With the widespread application of autonomous driving technology, occupant comfort has become a key topic. Occupant comfort of autonomous vehicles depends on the driving system’s performance, so studying the causes of occupant discomfort will help design driving systems. In addition to the discomfort in NVH and thermal comfort, occupant comfort is also affected by other factors such as safety perception. To study the impact of safety perception on comfort, this paper designed a road experiment and focused on the overtaking scenarios. Because the interaction between the ego vehicle and others is strong during overtaking, the occupants are more likely to receive visual stimuli, resulting in discomfort caused by safety perception. In the experiment, occupant discomfort scores were collected in real-time by the tool developed in this paper.