Vehicle anti-dizziness control method, device, equipment and computer readable storage medium

Abstract

A vehicle anti-motion sickness control method, device, equipment, and storage medium include: calculating multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the target vehicle's travel distance and the cumulative motion sickness dose values ​​of multiple candidate paths; determining a first target path from the multiple candidate paths based on preset constraints, each of the total cumulative motion sickness dose values, the travel time of each of the candidate paths, and the target motion sickness tolerance value of the driver and passengers; determining the motion sickness-inducing direction and motion sickness-inducing segment on the first target path based on the cumulative motion sickness dose value of the first target path and the predicted motion sickness dose values ​​of the target vehicle traveling on each segment of the first target path in each direction of spatial motion; and performing anti-motion sickness control on the target vehicle before the motion sickness-inducing segment by using preset orientation and pre-control parameters, thus solving the problem of relying solely on uniformly switching to a comfort mode for motion sickness prevention.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle anti-dizziness control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] Compared to traditional internal combustion engine vehicles, new energy vehicles have significantly improved response speeds in their electric motors and braking systems, resulting in instantaneous and sensitive power output. This makes them prone to large, abrupt changes in acceleration during driving, producing noticeable jerking sensations, a major factor inducing motion sickness and discomfort for passengers. Meanwhile, the core function of the vehicle's chassis and suspension system is to filter road excitations and vibrations to maintain vehicle stability. However, limited by existing suspension structures and adjustment logic, various vibrations generated during vehicle operation cannot be completely filtered out, preventing the vehicle from achieving absolute stability. Continuous low-frequency vibrations and dynamic impacts further exacerbate symptoms such as dizziness and fatigue, severely impacting the driving experience.

[0003] Currently, the industry generally adopts a uniform approach to address motion sickness in new energy vehicles by switching to a comfort mode. This involves adjusting the vehicle's power, braking, and chassis settings using standardized parameters. However, this one-size-fits-all approach has significant technical drawbacks and extremely poor adaptability. It cannot be tailored to the specific motion sickness triggers of new energy vehicles, such as sudden acceleration changes and residual vibrations. Under normal driving conditions, forcibly activating comfort mode excessively restricts the motor's power response, sacrificing vehicle handling and driving efficiency. On bumpy roads or during frequent gear changes, which are prone to motion sickness, the fixed comfort parameter adjustments are limited and cannot effectively counteract vibrations and acceleration impacts, significantly reducing the effectiveness of motion sickness prevention.

[0004] Meanwhile, the uniform comfort mode cannot adapt to the differences in motion sickness sensitivity among different passengers, and cannot achieve personalized anti-motion sickness adjustment. This passive and singular anti-motion sickness strategy cannot take into account the driving performance and ride comfort of new energy vehicles. It has core technical pain points such as low accuracy of anti-motion sickness, weak adaptability to different scenarios, and an inability to balance performance and comfort, making it difficult to meet the current refined and intelligent anti-motion sickness needs of new energy vehicles. Summary of the Invention

[0005] This application provides a vehicle anti-motion sickness control method, device, equipment, and computer-readable storage medium, which can solve the technical problem that the existing technology only uses a uniform switching comfort mode to prevent motion sickness, but the anti-motion sickness effect is poor.

[0006] In a first aspect, embodiments of this application provide a vehicle anti-motion sickness control method, including: Based on the cumulative motion sickness dose value of the distance already traveled by the target vehicle and the cumulative motion sickness dose values ​​of multiple candidate paths, multiple total cumulative motion sickness dose values ​​are calculated. Based on preset constraints, the total cumulative motion sickness dose values, the waiting time for each candidate path, and the motion sickness tolerance value of the driver and passengers, a first target path is determined from multiple candidate paths. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the motion sickness tolerance value of the driver and passengers, and that the waiting time deviation of each candidate path is less than or equal to the preset time deviation. The waiting time deviation of each candidate path is calculated from the waiting time of each candidate path. Based on the cumulative motion sickness dose value of the first target path and the predicted motion sickness dose value of the target vehicle traveling in each spatial motion direction on each segment of the first target path, the contribution value of each spatial motion direction on each segment of the first target path is calculated to determine the motion sickness-inducing direction and motion sickness-inducing segment on the first target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section on the first target path.

[0007] In conjunction with the first aspect, in one implementation, after determining the first target path from the plurality of candidate paths, the method further includes: The cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose value of the first target path are updated according to a preset cycle, and the updated total cumulative motion sickness dose value of the target is calculated. Based on the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value, it is determined whether a second target path needs to be selected. The target total cumulative motion sickness dose value is the sum of the cumulative motion sickness dose value of the distance traveled and the cumulative motion sickness dose value of the first target path. If it is determined that a second target path does not need to be selected, the contribution value of each spatial motion direction of each road segment on the first target path is calculated based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section on the first target path.

[0008] In conjunction with the first aspect, in one implementation, after determining whether a second target path needs to be selected, the method further includes: If it is determined that a second target path needs to be selected, the contribution value of each spatial motion direction of each road segment on the second target path is calculated based on the cumulative motion sickness dose value of the second target path and the predicted motion sickness dose value of each road segment in each spatial motion direction when the target vehicle is traveling on the second target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the second target path. The second preset orientation and control parameters are obtained based on the dizziness-inducing direction on the second target path, and the target vehicle is subjected to anti-dizziness control before it travels to the dizziness-inducing section on the second target path.

[0009] In conjunction with the first aspect, in one embodiment, the preset directional control parameters include at least one of: reducing acceleration MAP, reducing regenerative braking intensity, reducing rear wheel steering gain, reducing speed, increasing front and rear suspension damping, reducing front and rear suspension damping, reducing speed, and reducing braking control.

[0010] In conjunction with the first aspect, in one implementation, obtaining the cumulative motion sickness dose value of the distance traveled by the target vehicle includes: Obtain the travel time and road condition type of the target vehicle's journey; If it is determined that the road condition of the distance traveled by the target vehicle is a straight road, then a preset simplified calculation formula and the first motion parameters of the target vehicle are obtained. Based on the preset simplified calculation formula, the first motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained; If it is determined that the road condition type of the distance traveled by the target vehicle is complex, then the preset full calculation formula and the second motion parameters of the target vehicle are obtained. Based on the preset full-volume calculation formula, the second motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained.

[0011] In conjunction with the first aspect, in one implementation, obtaining the cumulative motion sickness dose value of multiple candidate paths includes: Obtain the estimated travel time and road condition type for each candidate route; If the road condition type of the candidate path is determined to be straight, then a preset simplified calculation formula and a first preset motion parameter are obtained. Based on the preset simplified calculation formula, the first preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained; If the road condition type of the candidate path is determined to be complex, then the preset full calculation formula and the second preset motion parameters are obtained. Based on the preset full-volume calculation formula, the second preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained.

[0012] In conjunction with the first aspect, in one implementation, obtaining the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle on each segment of the first target path includes: Obtain the predicted travel time and the third preset motion parameters for each segment of the first target path; Based on the third preset motion parameters, the predicted travel time of each road segment in the first target path, and the preset one-way calculation formula, the predicted motion sickness dose values ​​of the target vehicle in each spatial motion direction on each road segment of the first target path are obtained.

[0013] Secondly, embodiments of this application provide a vehicle anti-motion sickness control device, the vehicle anti-motion sickness control device comprising: The calculation module is used to calculate multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the distance already traveled by the target vehicle and the cumulative motion sickness dose values ​​of multiple candidate paths; The determination module is used to determine a first target path from multiple candidate paths based on preset constraints, the total cumulative motion sickness dose values ​​of each candidate path, the estimated driving time of each candidate path, and the motion sickness tolerance value of the driver and passengers. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the motion sickness tolerance value of the driver and passengers, and the estimated driving time deviation of each candidate path is less than or equal to a preset time deviation. The estimated driving time deviation of each candidate path is calculated from the estimated driving time of each candidate path. The calculation and determination module is used to calculate the contribution value of each spatial motion direction of each road segment on the first target path based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. The control module is used to obtain preset orientation and control parameters based on the dizziness-inducing direction on the first target path, and to perform anti-dizziness control on the target vehicle before it travels to the dizziness-inducing section of the first target path.

[0014] Thirdly, this application provides a vehicle anti-motion sickness control device, which includes a processor, a memory, and a vehicle anti-motion sickness control program stored in the memory and executable by the processor. When the vehicle anti-motion sickness control program is executed by the processor, it implements the steps of the vehicle anti-motion sickness control method described above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle anti-motion sickness control program, wherein when the vehicle anti-motion sickness control program is executed by a processor, it implements the steps of the vehicle anti-motion sickness control method described above.

[0016] The beneficial effects of the technical solutions provided in this application include: Multiple total cumulative motion sickness dose values ​​are calculated based on the cumulative motion sickness dose values ​​of the target vehicle's travel distance and multiple candidate paths. A first target path is determined from the multiple candidate paths based on preset constraints, each of the total cumulative motion sickness dose values, the expected travel time of each candidate path, and the motion sickness tolerance value of the driver and passengers. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the motion sickness tolerance value of the driver and passengers, and that the expected travel time deviation of each candidate path is less than or equal to a preset travel time deviation. The expected travel time deviation of each candidate path is determined by the expected travel time of each candidate path. The duration is calculated; based on the cumulative motion sickness dose value of the first target path and the predicted motion sickness dose value of the target vehicle traveling on each segment of the first target path in each spatial motion direction, the contribution value of each spatial motion direction of each segment of the first target path is calculated to determine the motion sickness-inducing direction and motion sickness-inducing segment on the first target path; based on the motion sickness-inducing direction on the first target path, preset orientation and pre-control parameters are obtained, and the target vehicle is subjected to anti-motion sickness control before it travels to the motion sickness-inducing segment on the first target path, which solves the technical problem that the anti-motion sickness effect is poor when only switching comfort mode uniformly is used for anti-motion sickness. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle anti-motion sickness control method of this application; Figure 2 This is a flowchart illustrating the second embodiment of the vehicle anti-motion sickness control method of this application; Figure 3 This is a schematic diagram of the functional modules of an embodiment of the vehicle anti-motion sickness control device of this application; Figure 4 This is a schematic diagram of the hardware structure of the vehicle anti-motion sickness control device involved in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] In a first aspect, embodiments of this application provide a vehicle anti-motion sickness control method.

[0022] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle anti-motion sickness control method of this application. Figure 1 As shown, vehicle motion sickness control methods include: Step S10: Calculate multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the target vehicle's travel distance and the cumulative motion sickness dose values ​​of multiple candidate paths; As an example, the cumulative motion sickness dose value of the target vehicle's traveled distance and the cumulative motion sickness dose values ​​of multiple candidate paths are obtained. Based on the obtained cumulative motion sickness dose values ​​of the target vehicle's traveled distance and the multiple candidate paths, multiple total cumulative motion sickness dose values ​​are calculated. For example, the cumulative motion sickness dose value of each candidate path is added to the cumulative motion sickness dose value of the traveled distance to calculate multiple total cumulative motion sickness dose values.

[0023] Specifically, obtaining the cumulative motion sickness dose value of the target vehicle's travel distance includes: obtaining the travel time and road condition type of the target vehicle's travel distance; if the road condition type is determined to be a straight road, then obtaining a preset simplified calculation formula and the first motion parameter of the target vehicle; obtaining the cumulative motion sickness dose value of the target vehicle's travel distance based on the preset simplified calculation formula, the first motion parameter, and the travel time; if the road condition type is determined to be a complex road, then obtaining a preset full-volume calculation formula and the second motion parameter of the target vehicle; obtaining the cumulative motion sickness dose value of the target vehicle's travel distance based on the preset full-volume calculation formula, the second motion parameter, and the travel time.

[0024] As an example, the travel time and road condition type of the target vehicle's already traveled distance are obtained. The vehicle's motion parameters are then obtained based on the road condition type of the already traveled distance. If the road condition type of the target vehicle's already traveled distance is determined to be a straight road, a preset simplified calculation formula is obtained. The first motion parameters include acceleration and acceleration gradient in each spatial motion direction. The acceleration in each spatial motion direction includes acceleration along the X-axis, Y-axis, and Z-axis, and the acceleration gradient in each spatial motion direction includes acceleration gradients along the X-axis, Y-axis, and Z-axis. Determining the road condition type of the target vehicle's traveled distance as a straight road condition involves acquiring the curvature values ​​and elevation differences of curves or slopes along the target vehicle's traveled distance. If the acquired curvature value is less than or equal to a preset curvature value, and the elevation difference is less than or equal to a preset elevation difference value, then the road condition type of the target vehicle's traveled distance is a straight road condition, and the preset curvature value is 0.005m. - ¹, The preset elevation difference is 5m / km. The corresponding calculation formula is obtained based on the road condition type of the target vehicle's traveled distance. If a simplified calculation formula is obtained, the activation of the motion sickness attenuation function is determined based on the acceleration in the X, Y, and Z axes. If the acceleration in the X-axis, Y-axis, and Z-axis directions is less than the preset acceleration, then the motion sickness attenuation function will be activated. If the acceleration in the X-axis, Y-axis, or Z-axis direction is greater than or equal to the preset acceleration, then the motion sickness attenuation function will not be activated. According to the simplified calculation formula The second cumulative motion sickness dose value is calculated based on the travel time, acceleration and acceleration gradient in the X, Y, and Z axes, and the distance traveled. Acceleration in the X, Y, and Z directions. The acceleration gradients in the X, Y, and Z directions. To pre-set the balancing weights, To pre-set differentiated weights, For motion sickness attenuation function, The characteristic is the activation number of the motion sickness decay function, where T is the driving duration in seconds (s). It is the first Initial activation time It is the first The activation termination time.

[0025] If the road condition type of the distance already traveled by the target vehicle is determined to be complex, then the preset full calculation formula is obtained. The second motion parameters include acceleration and acceleration gradient in each spatial motion direction. Acceleration in each spatial motion direction includes acceleration along the X-axis, Y-axis, Z-axis, Rx, Ry, and Rz directions. Acceleration gradient in each spatial motion direction includes acceleration gradients along the X-axis, Y-axis, Z-axis, Rx, Ry, and Rz directions. Determining the road condition type of the target vehicle's traveled distance as complex involves acquiring the curvature and elevation difference values ​​of curves or slopes along the target vehicle's traveled distance. If the acquired curvature value is greater than a preset curvature value, or the elevation difference is greater than a preset elevation difference value, then the actual road condition type of the target vehicle's traveled distance is determined to be complex, with a preset curvature value of 0.005m. - ¹, The preset elevation difference is 5m / km. Based on the road condition type of the target vehicle's traveled distance, the corresponding calculation formula is obtained. If the full calculation formula is obtained, the activation of the motion sickness attenuation function is determined based on the acceleration in the X, Y, Z, Rx, Ry, and Rz directions. If the accelerations in the X, Y, Z, Rx, Ry, and Rz directions are all less than the preset acceleration, then the motion sickness attenuation function is activated. If the acceleration in the X-axis, Y-axis, Z-axis, Rx, Ry, or Rz directions is greater than or equal to the preset acceleration, then the motion sickness attenuation function will not be activated. According to the full calculation formula The cumulative motion sickness dose value for the distance traveled is calculated by considering the travel time, acceleration and acceleration gradient in the X, Y, Z, Rx, Ry, and Rz directions. The accelerations in the X, Y, and Z axes, as well as the Rx, Ry, and Rz axes. The acceleration gradients in the X, Y, Z, Rx, Ry, and Rz directions. To pre-set the balancing weights, To pre-set differentiated weights, For motion sickness attenuation function, The characteristic is the activation number of the motion sickness decay function, where T is the driving duration in seconds (s). It is the first Initial activation time It is the first The activation termination time.

[0026] Specifically, obtaining the cumulative motion sickness dose value of multiple candidate paths includes: obtaining the waiting time and road condition type of each candidate path; if the road condition type of the candidate path is determined to be straight, then obtaining a preset simplified calculation formula and a first preset motion parameter; obtaining the cumulative motion sickness dose value of each candidate path according to the preset simplified calculation formula, the first preset motion parameter, and the waiting time of each candidate path; if the road condition type of the candidate path is determined to be complex, then obtaining a preset full-volume calculation formula and a second preset motion parameter; obtaining the cumulative motion sickness dose value of each candidate path according to the preset full-volume calculation formula, the second preset motion parameter, and the waiting time of each candidate path.

[0027] As an example, the driving time and road condition type of multiple candidate paths are obtained. Preset motion parameters for the target vehicle are obtained based on the road condition type of each candidate path. If the road condition type of a candidate path is determined to be straight, a preset simplified calculation formula is obtained. The first preset motion parameters include preset acceleration and preset acceleration gradients in each spatial motion direction. The preset acceleration in each spatial motion direction includes accelerations along the X-axis, Y-axis, and Z-axis, and the preset acceleration gradients in each spatial motion direction include acceleration gradients along the X-axis, Y-axis, and Z-axis. Determining the road condition type of the candidate path as straight involves obtaining the curvature values ​​and elevation differences of the curves or slopes of the candidate path. If the obtained curvature value is less than or equal to the preset curvature value, and the elevation difference is less than or equal to the preset elevation difference value, then the road condition type of the candidate path is straight, and the preset curvature value is 0.005m. - ¹, The preset elevation difference is 5m / km. The corresponding calculation formula is obtained based on the road condition type of the candidate path. If a simplified calculation formula is obtained, the activation of the motion sickness attenuation function is determined based on the preset accelerations in the X, Y, and Z axes. If the preset accelerations in the X, Y, and Z axes are all less than the preset acceleration, then the motion sickness attenuation function is activated. If the preset acceleration in the X-axis, Y-axis, or Z-axis direction is greater than or equal to the preset acceleration, then the motion sickness attenuation function will not be activated. According to the simplified calculation formula The second cumulative motion sickness dose value for each candidate path is calculated based on the waiting time, preset acceleration and preset acceleration gradient in the X-axis, Y-axis and Z-axis directions. Preset accelerations in the X, Y, and Z axes. Preset acceleration gradients in the X, Y, and Z axes. To pre-set the balancing weights, To pre-set differentiated weights, For motion sickness attenuation function, The representation is the number of times the motion sickness decay function is activated, and T is the waiting time for driving, in seconds (s). It is the first Initial activation time It is the first The activation termination time.

[0028] If the road condition type of the candidate path is determined to be complex, then the preset full calculation formula is obtained. The second preset motion parameters include preset acceleration and preset acceleration gradients in each spatial motion direction. The acceleration in each spatial motion direction includes preset accelerations in the X-axis, Y-axis, Z-axis, Rx, Ry, and Rz directions. The acceleration gradients in each spatial motion direction include preset acceleration gradients in the X-axis, Y-axis, Z-axis, Rx, Ry, and Rz directions. Determining the road condition type of the candidate path as complex involves obtaining the curvature values ​​and elevation differences of the curves or slopes of the candidate path. If the obtained curvature value is greater than the preset curvature value, or the elevation difference is greater than the preset elevation difference value, then the actual road condition type of the candidate path is determined to be complex, and the preset curvature value is 0.005m. - ¹, The preset elevation difference is 5m / km. Based on the road condition type of the candidate path, the corresponding calculation formula is obtained. If the full calculation formula is obtained, the activation of the motion sickness attenuation function is determined based on the preset accelerations in the X, Y, Z, Rx, Ry, and Rz directions. If the preset accelerations in the X, Y, Z, Rx, Ry, and Rz directions are all less than the preset acceleration, then the motion sickness attenuation function is activated. If the preset acceleration in the X-axis, Y-axis, Z-axis, Rx, Ry, or Rz directions is greater than or equal to the preset acceleration, then the motion sickness attenuation function will not be activated. According to the full calculation formula The cumulative motion sickness dose value of the candidate path is calculated based on the pre-set acceleration and pre-set acceleration gradient in the X-axis, Y-axis, Z-axis, Rx, Ry, and Rz directions, taking into account the waiting time. Preset accelerations in the X, Y, Z, Rx, Ry, and Rz directions. Preset acceleration gradients in the X, Y, Z, Rx, Ry, and Rz directions. To pre-set the balancing weights, To pre-set differentiated weights, For motion sickness attenuation function, The characteristic is the activation number of the motion sickness decay function, where T is the driving duration in seconds (s). It is the first Initial activation time It is the first The activation termination time.

[0029] Step S20: Based on preset constraints, the total cumulative motion sickness dose values, the obtained driving time of each candidate path, and the target motion sickness tolerance value of the driver and passengers, determine a first target path from the multiple candidate paths. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the motion sickness tolerance value of the driver and passengers, and the driving time deviation of each candidate path is less than or equal to the preset time deviation. The driving time deviation of each candidate path is calculated from the driving time of each candidate path. As an example, the motion sickness tolerance value of drivers and passengers is obtained. For instance, when a driver or passenger is detected entering the vehicle, their identity information is obtained through facial recognition. This information is then matched against a pre-set database to obtain a matching motion sickness tolerance value as the driver's or passenger's motion sickness tolerance value. If no matching value is found in the pre-set database, the motion sickness tolerance value or degree of motion sickness for the driver or passenger is obtained through the control panel. If the obtained degree of motion sickness for the driver or passenger is "not prone to motion sickness," "moderately prone to motion sickness," or "severely prone to motion sickness," the corresponding motion sickness tolerance value is obtained, and this value, along with the driver's or passenger's identity information, is stored in the pre-set database. If there are multiple drivers or passengers, the motion sickness tolerance value for each driver or passenger is obtained. The lowest or highest value is selected from these values ​​as the target value, or the average value is obtained based on the motion sickness tolerance values ​​of all drivers and passengers and used as the target value.

[0030] The travel time deviation for each candidate path is calculated based on its travel time. According to the travel time deviation and the total cumulative motion sickness dose value for each candidate path, it is determined whether preset constraints are met. The travel time deviation of each candidate path is compared with the preset time deviation, and the total cumulative motion sickness dose value is compared with the target motion sickness tolerance value. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the target motion sickness tolerance value for the driver and passengers, and that the travel time deviation of each candidate path is less than or equal to the preset time deviation. Candidate paths that meet the preset constraints are identified, and these are designated as the first target path. If multiple candidate paths meet the preset constraints, the candidate path with the smallest total cumulative motion sickness dose value or the smallest travel time deviation is selected as the first target path.

[0031] Step S30: Based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose values ​​of each spatial motion direction of each road segment on the first target path, calculate the contribution value of each spatial motion direction of each road segment on the first target path to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. As an example, the motion sickness dose values ​​for each spatial direction of motion of the predicted target vehicle traveling on each segment of the first target path are obtained. Based on the motion sickness dose values ​​for each spatial direction of motion of each segment of the first target path and the cumulative motion sickness dose value of the first target path, the contribution value for each spatial direction of motion of each segment of the first target path is calculated. For example, a preset formula is obtained. The contribution of each spatial motion direction of each road segment on the first target path is calculated. The contribution of each spatial motion direction of each road segment on the first target path is compared with the preset contribution. The spatial motion directions that are greater than or equal to the preset contribution are taken as the dizzying directions on the first target path, and the dizzying road segments corresponding to the dizzying directions are obtained.

[0032] Specifically, obtaining the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle traveling on each segment of the first target path includes: obtaining the predicted travel time of each segment of the first target path and a third preset motion parameter; and obtaining the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle traveling on each segment of the first target path based on the third preset motion parameter, the predicted travel time of each segment of the first target path, and a preset one-way calculation formula.

[0033] As an example, the predicted travel time and third preset motion parameters are obtained for each segment of the first target path. These third preset motion parameters include preset acceleration and preset acceleration gradients in each spatial motion direction. The preset acceleration in each spatial motion direction includes accelerations along the X, Y, and Z axes, and the preset acceleration gradients in each spatial motion direction include acceleration gradients along the X, Y, and Z axes. This is calculated based on a preset unidirectional calculation formula. The predicted travel time for each segment of the first target path and the third preset motion parameters are used to obtain the predicted motion sickness dose values ​​for each spatial motion direction of the target vehicle traveling on each segment of the first target path. Preset accelerations in the X, Y, Z, Rx, Ry, and Rz directions. Preset acceleration gradients in the X, Y, Z, Rx, Ry, and Rz directions. To pre-set the balancing weights, The pre-set differential weights are T, which represents the predicted driving time in seconds (s).

[0034] Step S40: Obtain preset orientation and control parameters based on the dizziness-inducing direction on the first target path, and perform anti-dizziness control on the target vehicle before it travels to the dizziness-inducing section on the first target path.

[0035] As an example, preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path. The dizziness-inducing direction on the first target path includes one of the following: X-axis, Y-axis, Z-axis, Rx, Ry, and Rz. The preset orientation and control parameters include one of the following: a second preset orientation and control parameter, a third preset orientation and control parameter, a fourth preset orientation and control parameter, a fifth preset orientation and control parameter, and a sixth preset orientation and control parameter. Anti-dizziness control is implemented on the target vehicle before it reaches the dizziness-inducing section of the first target path. For example, if the dizziness-inducing direction on the first target path is the X-axis direction, then the preset orientation control parameters are to reduce acceleration MAP and reduce regenerative braking intensity; if the dizziness-inducing direction on the first target path is the Y-axis direction, then the second preset orientation control parameters are to reduce rear wheel steering gain and reduce speed; if the dizziness-inducing direction on the first target path is the Z-axis direction, then the third preset orientation control parameter is to increase or decrease front and rear suspension damping; if the dizziness-inducing direction on the first target path is the Rx direction, then the fourth preset orientation control parameter is to reduce speed control; if the dizziness-inducing direction on the first target path is the Ry direction, then the fifth preset orientation control parameter is to increase front and rear suspension damping, decrease front and rear suspension damping, reduce acceleration MAP, decrease braking control, and decrease regenerative braking intensity; if the dizziness-inducing direction on the first target path is the Rz direction, then the sixth preset orientation control parameter is to reduce rear wheel steering gain.

[0036] In this embodiment, multiple total cumulative motion sickness dose values ​​are calculated based on the cumulative motion sickness dose values ​​of the target vehicle's travel distance and the cumulative motion sickness dose values ​​of multiple candidate paths. A first target path is determined from the multiple candidate paths based on preset constraints, each of the total cumulative motion sickness dose values, the travel time of each candidate path, and the motion sickness tolerance value of the driver and passengers. The contribution value of each spatial movement direction of each road segment on the first target path is calculated based on the cumulative motion sickness dose value of the first target path and the predicted motion sickness dose values ​​of each spatial movement direction of the target vehicle traveling on each road segment of the first target path, thereby determining the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. Preset orientation and pre-control parameters are obtained based on the motion sickness-inducing direction on the first target path, and anti-motion sickness control is implemented on the target vehicle before it reaches the motion sickness-inducing road segment on the first target path. This solves the technical problem that simply switching to a comfort mode for motion sickness prevention only results in poor anti-motion sickness effects.

[0037] In one embodiment, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the vehicle anti-motion sickness control method of this application. Figure 2 As shown, vehicle motion sickness control methods include: Step S11: Calculate multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the target vehicle's travel distance and the cumulative motion sickness dose values ​​of multiple candidate paths; Step S12: Based on preset constraints, the total cumulative motion sickness dose values, the obtained driving time of each candidate path, and the target motion sickness tolerance value of the driver and passengers, determine a first target path from the multiple candidate paths. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the target motion sickness tolerance value of the driver and passengers, and the driving time deviation of each candidate path is less than or equal to the preset time deviation. The driving time deviation of each candidate path is calculated from the driving time of each candidate path. Step S13: Update the cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose value of the first target path according to the preset cycle, and calculate the updated total cumulative motion sickness dose value of the target. As an example, the cumulative motion sickness dose value of the target vehicle's traveled distance and the cumulative motion sickness dose value of the first target path are updated according to a preset cycle, and the updated total cumulative motion sickness dose value of the target is calculated. For example, the cumulative motion sickness dose value of the target vehicle's traveled distance and the cumulative motion sickness dose value of the first target path are updated at 5-minute intervals, and the updated total cumulative motion sickness dose value of the target is calculated.

[0038] Step S14: Based on the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value, determine whether a second target path needs to be selected. The target total cumulative motion sickness dose value is the sum of the cumulative motion sickness dose value of the distance traveled and the cumulative motion sickness dose value of the first target path. As an example, the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value is calculated. If the deviation rate is greater than a preset deviation value, it is determined that a second target path needs to be selected; if the deviation rate is less than or equal to the preset deviation value, it is determined that a second target path does not need to be selected. The calculation of the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value includes, for example, obtaining... The deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value is calculated.

[0039] Step S15: If it is determined that a second target path does not need to be selected, then based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose values ​​of each spatial motion direction of each segment of the first target path, the contribution value of each spatial motion direction of each segment of the first target path is calculated to determine the motion sickness-inducing direction and motion sickness-inducing segment on the first target path. As an example, if it is determined that a second target path does not need to be selected, the motion sickness dose values ​​for each spatial direction of motion of the predicted target vehicle traveling on each segment of the first target path are obtained. Based on the motion sickness dose values ​​for each spatial direction of motion of each segment of the first target path and the cumulative motion sickness dose value of the first target path, the contribution value for each spatial direction of motion of each segment of the first target path is calculated. For example, a preset formula can be obtained. The contribution of each spatial motion direction of each road segment on the first target path is calculated. The contribution of each spatial motion direction of each road segment on the first target path is compared with the preset contribution. The spatial motion directions that are greater than or equal to the preset contribution are taken as the dizzying directions on the first target path, and the dizzying road segments corresponding to the dizzying directions are obtained.

[0040] Specifically, obtaining the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle traveling on each segment of the first target path includes: obtaining the road condition type and predicted travel time of each candidate path; if the road condition type of the candidate path is straight, obtaining a first preset motion parameter, which includes three-dimensional acceleration and acceleration gradient; if the road condition type of the candidate path is complex, obtaining a second preset motion parameter, which includes six-dimensional acceleration and acceleration gradient; and obtaining the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle traveling on each segment of the first target path based on the first preset motion parameter or the second preset motion parameter, the predicted travel time, and a preset one-way calculation formula.

[0041] Step S16: Obtain preset orientation and control parameters based on the dizziness-inducing direction on the first target path, and perform anti-dizziness control on the target vehicle before it travels to the dizziness-inducing section on the first target path.

[0042] As an example, preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path. The dizziness-inducing direction on the first target path includes one of the following: X-axis, Y-axis, Z-axis, Rx, Ry, and Rz. The preset orientation and control parameters include one of the following: a second preset orientation and control parameter, a third preset orientation and control parameter, a fourth preset orientation and control parameter, a fifth preset orientation and control parameter, and a sixth preset orientation and control parameter. Anti-dizziness control is implemented on the target vehicle before it reaches the dizziness-inducing section of the first target path. For example, if the dizziness-inducing direction on the first target path is the X-axis direction, then the preset orientation control parameters are to reduce acceleration MAP and reduce regenerative braking intensity; if the dizziness-inducing direction on the first target path is the Y-axis direction, then the second preset orientation control parameters are to reduce rear wheel steering gain and reduce speed; if the dizziness-inducing direction on the first target path is the Z-axis direction, then the third preset orientation control parameter is to increase or decrease front and rear suspension damping; if the dizziness-inducing direction on the first target path is the Rx direction, then the fourth preset orientation control parameter is to reduce speed control; if the dizziness-inducing direction on the first target path is the Ry direction, then the fifth preset orientation control parameter is to increase front and rear suspension damping, decrease front and rear suspension damping, reduce acceleration MAP, decrease braking control, and decrease regenerative braking intensity; if the dizziness-inducing direction on the first target path is the Rz direction, then the sixth preset orientation control parameter is to reduce rear wheel steering gain.

[0043] Step S17: If it is determined that a second target path needs to be selected, then based on the cumulative motion sickness dose value of the second target path and the predicted motion sickness dose value of each spatial motion direction of each road segment when the target vehicle is traveling on the second target path, calculate the contribution value of each spatial motion direction of each road segment on the second target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the second target path. As an example, if it is determined that a second target path needs to be selected, then a second target path is chosen from among the candidate paths. For example, a candidate path with a travel time deviation less than that of the first target path is selected, or a candidate path with a cumulative motion sickness dose value less than that of the first target path is selected. Based on the obtained cumulative motion sickness dose value of the second target path and the obtained predicted motion sickness dose values ​​of each spatial motion direction of each road segment when the target vehicle travels on the second target path, the contribution value of each spatial motion direction of each road segment on the second target path is calculated to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the second target path.

[0044] Step S18: Obtain preset orientation and control parameters based on the dizziness-inducing direction on the second target path, and perform anti-dizziness control on the target vehicle before it travels to the dizziness-inducing section on the second target path.

[0045] As an example, preset orientation and control parameters are obtained based on the dizziness-inducing direction on the second target path. The dizziness-inducing direction on the second target path includes one of the following: X-axis, Y-axis, Z-axis, Rx, Ry, and Rz. The preset orientation and control parameters include one of the following: a first preset orientation and control parameter, a second preset orientation and control parameter, a third preset orientation and control parameter, a fourth preset orientation and control parameter, a fifth preset orientation and control parameter, and a sixth preset orientation and control parameter. Anti-dizziness control is implemented on the target vehicle before it reaches the dizziness-inducing section of the second target path. For example, if the dizziness-inducing direction on the second target path is the X-axis direction, then the preset orientation control parameters are to reduce acceleration MAP and reduce regenerative braking intensity; if the dizziness-inducing direction on the second target path is the Y-axis direction, then the second preset orientation control parameters are to reduce rear wheel steering gain and reduce speed; if the dizziness-inducing direction on the second target path is the Z-axis direction, then the third preset orientation control parameter is to increase or decrease front and rear suspension damping; if the dizziness-inducing direction on the second target path is the Rx direction, then the fourth preset orientation control parameter is to reduce speed control; if the dizziness-inducing direction on the second target path is the Ry direction, then the fifth preset orientation control parameter is to increase front and rear suspension damping, decrease front and rear suspension damping, reduce acceleration MAP, decrease braking control, and decrease regenerative braking intensity; if the dizziness-inducing direction on the second target path is the Rz direction, then the sixth preset orientation control parameter is to reduce rear wheel steering gain.

[0046] In this embodiment, by updating the cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose value of the first target path according to a preset cycle, the updated total cumulative motion sickness dose value of the target is calculated, thereby determining whether a second target path needs to be selected. If it is determined that a second target path needs to be selected, the motion sickness-inducing direction and motion sickness-inducing section on the second target path are obtained; preset orientation and pre-control parameters are obtained based on the motion sickness-inducing direction on the second target path, and anti-motion sickness control is performed on the target vehicle before it travels to the motion sickness-inducing section on the second target path. If a second target path is not required, the motion sickness-inducing direction and motion sickness-inducing section on the first target path are determined; preset orientation and pre-control parameters are obtained based on the motion sickness-inducing direction on the first target path, and anti-motion sickness control is performed on the target vehicle before it travels to the motion sickness-inducing section on the first target path, thereby improving the anti-motion sickness effect.

[0047] Secondly, embodiments of this application also provide a vehicle anti-motion sickness control device.

[0048] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the vehicle anti-motion sickness control device of this application. Figure 3 As shown, the vehicle anti-motion sickness control device includes: The calculation module 10 is used to calculate multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the distance traveled by the target vehicle and the cumulative motion sickness dose values ​​of multiple candidate paths; The determining module 20 is used to determine a first target path from multiple candidate paths based on preset constraints, the total cumulative motion sickness dose values ​​of each candidate path, the obtained driving time of each candidate path, and the motion sickness tolerance value of the driver and passengers. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the motion sickness tolerance value of the driver and passengers, and the driving time deviation of each candidate path is less than or equal to the preset time deviation. The driving time deviation of each candidate path is calculated from the driving time of each candidate path. The calculation and determination module 30 is used to calculate the contribution value of each spatial motion direction of each road segment on the first target path based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. Control module 40 is used to obtain preset orientation and control parameters based on the dizziness-inducing direction on the first target path, and to perform anti-dizziness control on the target vehicle before the target vehicle travels to the dizziness-inducing section on the first target path.

[0049] Furthermore, in one embodiment, the vehicle anti-motion sickness control device further includes a new module for: The cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose value of the first target path are updated according to a preset cycle, and the updated total cumulative motion sickness dose value of the target is calculated. Based on the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value, it is determined whether a second target path needs to be selected. The target total cumulative motion sickness dose value is the sum of the cumulative motion sickness dose value of the distance traveled and the cumulative motion sickness dose value of the first target path. If it is determined that a second target path does not need to be selected, the contribution value of each spatial motion direction of each road segment on the first target path is calculated based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section on the first target path.

[0050] Furthermore, in one embodiment, the vehicle anti-motion sickness control device further includes a new module for: If it is determined that a second target path needs to be selected, the contribution value of each spatial motion direction of each road segment on the second target path is calculated based on the cumulative motion sickness dose value of the second target path and the predicted motion sickness dose value of each road segment in each spatial motion direction when the target vehicle is traveling on the second target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the second target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the second target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section of the second target path.

[0051] Furthermore, in one embodiment, the vehicle anti-motion sickness control device further includes a new module for: Obtain the travel time and road condition type of the target vehicle's journey; If it is determined that the road condition of the distance traveled by the target vehicle is a straight road, then a preset simplified calculation formula and the first motion parameters of the target vehicle are obtained. Based on the preset simplified calculation formula, the first motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained; If it is determined that the road condition type of the distance traveled by the target vehicle is complex, then the preset full calculation formula and the second motion parameters of the target vehicle are obtained. Based on the preset full-volume calculation formula, the second motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained.

[0052] Furthermore, in one embodiment, the vehicle anti-motion sickness control device further includes a new module for: Obtain the estimated travel time and road condition type for each candidate route; If the road condition type of the candidate path is determined to be straight, then a preset simplified calculation formula and a first preset motion parameter are obtained. Based on the preset simplified calculation formula, the first preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained; If the road condition type of the candidate path is determined to be complex, then the preset full calculation formula and the second preset motion parameters are obtained. Based on the preset full-volume calculation formula, the second preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained.

[0053] Furthermore, in one embodiment, the vehicle anti-motion sickness control device further includes a new module for: Obtain the predicted travel time and the third preset motion parameters for each segment of the first target path; Based on the third preset motion parameters, the predicted travel time of each road segment in the first target path, and the preset one-way calculation formula, the predicted motion sickness dose values ​​of the target vehicle in each spatial motion direction on each road segment of the first target path are obtained.

[0054] The functions of each module in the above-mentioned vehicle anti-motion sickness control device correspond to the steps in the above-mentioned vehicle anti-motion sickness control method embodiment, and their functions and implementation processes will not be described in detail here.

[0055] Thirdly, embodiments of this application provide a vehicle anti-motion sickness control device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0056] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the vehicle anti-motion sickness control device involved in the embodiments of this application. In the embodiments of this application, the vehicle anti-motion sickness control device may include a processor, a memory, a communication interface, and a communication bus.

[0057] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0058] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the vehicle anti-motion sickness control device, as well as interfaces used for interconnecting the vehicle anti-motion sickness control device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0059] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0060] The processor can be a general-purpose processor, which can call the vehicle anti-motion sickness control program stored in the memory and execute the vehicle anti-motion sickness control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle anti-motion sickness control program is called can be referred to in the various embodiments of the vehicle anti-motion sickness control method of this application, and will not be repeated here.

[0061] Those skilled in the art will understand that Figure 4 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0062] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0063] The present application provides a computer-readable storage medium storing a vehicle anti-motion sickness control program, wherein when the vehicle anti-motion sickness control program is executed by a processor, it implements the steps of the vehicle anti-motion sickness control method described above.

[0064] The method implemented when the vehicle anti-motion sickness control program is executed can be referred to in various embodiments of the vehicle anti-motion sickness control method of this application, and will not be repeated here.

[0065] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0066] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0067] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0068] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0069] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0070] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0071] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle anti-motion sickness control method, characterized in that, include: Based on the cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose values ​​of multiple candidate paths, multiple total cumulative motion sickness dose values ​​are calculated. Based on preset constraints, the total cumulative motion sickness dose values, the waiting time for each candidate path, and the target motion sickness tolerance value of the driver and passengers, a first target path is determined from multiple candidate paths. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the target motion sickness tolerance value of the driver and passengers, and that the waiting time deviation of each candidate path is less than or equal to the preset time deviation. The waiting time deviation of each candidate path is calculated from the waiting time of each candidate path. Based on the cumulative motion sickness dose value of the first target path and the predicted motion sickness dose value of the target vehicle traveling in each spatial motion direction on each segment of the first target path, the contribution value of each spatial motion direction on each segment of the first target path is calculated to determine the motion sickness-inducing direction and motion sickness-inducing segment on the first target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section on the first target path.

2. The vehicle anti-motion sickness control method as described in claim 1, characterized in that, After determining the first target path from the plurality of candidate paths, the method further includes: The cumulative motion sickness dose value of the target vehicle's travel distance and the cumulative motion sickness dose value of the first target path are updated according to a preset cycle, and the updated total cumulative motion sickness dose value of the target is calculated. Based on the deviation between the updated target total cumulative motion sickness dose value and the obtained target total cumulative motion sickness dose value, it is determined whether a second target path needs to be selected. The target total cumulative motion sickness dose value is the sum of the cumulative motion sickness dose value of the distance traveled and the cumulative motion sickness dose value of the first target path. If it is determined that a second target path does not need to be selected, the contribution value of each spatial motion direction of each road segment on the first target path is calculated based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the first target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section on the first target path.

3. The vehicle anti-motion sickness control method as described in claim 2, characterized in that, After determining whether a second target path needs to be selected, the process also includes: If it is determined that a second target path needs to be selected, the contribution value of each spatial motion direction of each road segment on the second target path is calculated based on the cumulative motion sickness dose value of the second target path and the predicted motion sickness dose value of each road segment in each spatial motion direction when the target vehicle is traveling on the second target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the second target path. Preset orientation and control parameters are obtained based on the dizziness-inducing direction on the second target path, and anti-dizziness control is performed on the target vehicle before it travels to the dizziness-inducing section of the second target path.

4. The vehicle anti-motion sickness control method as described in claim 1, characterized in that, The preset directional control parameters include at least one of the following: reducing acceleration MAP, reducing regenerative braking intensity, reducing rear wheel steering gain, reducing speed, increasing front and rear suspension damping, reducing front and rear suspension damping, and reducing braking control.

5. The vehicle anti-motion sickness control method as described in claim 1, characterized in that, The acquisition of the cumulative motion sickness dose value of the distance traveled by the target vehicle includes: Obtain the travel time and road condition type of the target vehicle's journey; If it is determined that the road condition of the distance traveled by the target vehicle is a straight road, then a preset simplified calculation formula and the first motion parameters of the target vehicle are obtained. Based on the preset simplified calculation formula, the first motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained; If it is determined that the road condition type of the distance traveled by the target vehicle is complex, then the preset full calculation formula and the second motion parameters of the target vehicle are obtained. Based on the preset full-volume calculation formula, the second motion parameter, and the driving time, the cumulative motion sickness dose value of the distance traveled by the target vehicle is obtained.

6. The vehicle anti-motion sickness control method as described in claim 1, characterized in that, The process of obtaining the cumulative motion sickness dose value for multiple candidate paths includes: Obtain the travel time and road condition type for each candidate route; If the road condition type of the candidate path is determined to be straight, then a preset simplified calculation formula and a first preset motion parameter are obtained. Based on the preset simplified calculation formula, the first preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained; If the road condition type of the candidate path is determined to be complex, then the preset full calculation formula and the second preset motion parameters are obtained. Based on the preset full-volume calculation formula, the second preset motion parameters, and the waiting time for each candidate path, the cumulative motion sickness dose value of each candidate path is obtained.

7. The vehicle anti-motion sickness control method as described in claim 1, characterized in that, The acquisition of the predicted motion sickness dose values ​​for each spatial direction of motion of the target vehicle on each segment of the first target path includes: Obtain the predicted travel time and the third preset motion parameters for each segment of the first target path; Based on the third preset motion parameters, the predicted travel time of each road segment in the first target path, and the preset one-way calculation formula, the predicted motion sickness dose values ​​of the target vehicle in each spatial motion direction on each road segment of the first target path are obtained.

8. A vehicle anti-motion sickness control device, characterized in that, The vehicle anti-motion sickness control device includes: The calculation module is used to calculate multiple total cumulative motion sickness dose values ​​based on the cumulative motion sickness dose values ​​of the distance already traveled by the target vehicle and the cumulative motion sickness dose values ​​of multiple candidate paths; The determination module is used to determine a first target path from multiple candidate paths based on preset constraints, the total cumulative motion sickness dose values ​​of each candidate path, the obtained driving time of each candidate path, and the target motion sickness tolerance value of the driver and passengers. The preset constraints include that the total cumulative motion sickness dose value is less than or equal to the target motion sickness tolerance value of the driver and passengers, and the driving time deviation of each candidate path is less than or equal to the preset time deviation. The driving time deviation of each candidate path is calculated from the driving time of each candidate path. The calculation and determination module is used to calculate the contribution value of each spatial motion direction of each road segment on the first target path based on the cumulative motion sickness dose value of the first target path and the obtained predicted motion sickness dose value of each road segment on the first target path, so as to determine the motion sickness-inducing direction and motion sickness-inducing road segment on the first target path. The control module is used to obtain preset orientation and control parameters based on the dizziness-inducing direction on the first target path, and to perform anti-dizziness control on the target vehicle before the target vehicle travels to the dizziness-inducing section on the first target path.

9. A vehicle anti-motion sickness control device, characterized in that, The vehicle anti-motion sickness control device includes a processor, a memory, and a vehicle anti-motion sickness control program stored in the memory and executable by the processor, wherein when the vehicle anti-motion sickness control program is executed by the processor, it implements the steps of the vehicle anti-motion sickness control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle anti-motion sickness control program, wherein when the vehicle anti-motion sickness control program is executed by a processor, it implements the steps of the vehicle anti-motion sickness control method as described in any one of claims 1 to 7.

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