Carsickness monitoring and control system based on multiple modes

Abstract

The invention discloses a carsickness monitoring and control system based on multiple modes. The system comprises a physiological monitoring module, a signal preprocessing module, a carsickness judgment module and a carsickness correction module, the physiological monitoring module is used for collecting various physiological unit signals of passengers on the vehicle in real time; the signal preprocessing module is used for obtaining various physiological signal segment data; the carsickness judgment module is used for judging whether a passenger in a certain time period is in a carsickness state or not; and the carsickness correction module is used for regulating and controlling the running parameters of the automatic driving vehicle in the corresponding time period when the carsickness state occurs by taking the vehicle running parameters corresponding to the low carsickness degree score WSCI as a reference, correcting an automatic driving strategy and reducing the carsickness degree and probability of passengers on the vehicle. According to the invention, whether the passenger of the unmanned electric vehicle is carsickness can be accurately judged, and the automatic driving strategy during carsickness can be corrected.

Description

Technical Field

[0001] The present invention relates to the technical field of underground energy storage, and in particular to a multi-modal-based motion sickness monitoring and control system. Background Art

[0002] Motion sickness is an unavoidable problem for many car users, especially when encountering curves or traffic jams in urban areas. High-frequency acceleration and deceleration become the main cause of motion sickness. After motion sickness, it not only affects the driver's driving concentration, but also affects the user experience of the passengers.

[0003] With the application of unmanned and electrified vehicles, unmanned electric vehicles are gradually entering the market. Electric vehicles have strong power output characteristics and power recovery systems, which bring more convenience to users. Although strong power output characteristics can increase the speed of electric vehicles, the acceleration feeling will also be stronger, and the strong acceleration feeling is more likely to cause dizziness in the frequent starting stage; and the drag feeling of the power recovery system during braking is too strong, which is also easy to cause motion sickness.

[0004] The monitoring method for judging whether the occupants of the driverless electric vehicle suffer from motion sickness in the prior art is difficult to accurately judge whether the user suffers from motion sickness due to few factors to be considered; moreover, the relief measures for the occupants of the driverless electric vehicle suffering from motion sickness in the prior art are relatively simple, and the relief effect of the motion sickness relief measures provided is difficult to meet the user's requirements. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention proposes a multi-modal motion sickness monitoring and control system, which can not only accurately determine whether the occupants of the unmanned electric vehicle are motion sickness, but also correct the automatic driving strategy when motion sickness occurs, thereby reducing the degree and probability of motion sickness of the occupants in the vehicle and improving the riding comfort.

[0006] To achieve the above-mentioned purpose, the present invention is designed to provide a multi-modal motion sickness monitoring and control system, which is particularly characterized in that it includes a physiological monitoring module, a signal preprocessing module, a motion sickness identification module, and a motion sickness correction module;

[0007] The physiological monitoring module is used to collect various physiological unit signals of the vehicle occupants in real time;

[0008] The signal preprocessing module is used to perform time synchronization processing on the collected data of various physiological units to obtain synchronized physiological signals, and then segment the synchronized physiological signals according to the time sequence to obtain segmented data of various physiological signals;

[0009] The motion sickness identification module is used to compare the segmented data of each physiological signal in the same time period with the corresponding static signal to obtain the change amount of the physiological signal, and at the same time assign a weight coefficient to the physiological signal, and use the product of the change amount of each physiological signal and the weight coefficient corresponding to the physiological signal as the motion sickness contribution value of the physiological signal, and finally use the sum of the motion sickness contribution values ​​of various physiological signals as the motion sickness degree score WSCI;

[0010] If the motion sickness score WSCI is greater than or equal to the set threshold, the occupant is judged to be in a motion sickness state during this time period; if the motion sickness score is less than the set threshold, the occupant is judged to be in a non-motion sickness state during this time period;

[0011] The static signals are various physiological unit signals of vehicle occupants collected when the vehicle is not in motion;

[0012] The motion sickness correction module includes a vehicle information memory module and a driving state control module, wherein the vehicle information memory module is used to record vehicle operating parameters and corresponding motion sickness scores WSCI under different automatic driving conditions;

[0013] The driving state control module is used to compare the vehicle operating parameters corresponding to different motion sickness degree scores WSCI, obtain the automatic driving vehicle operating parameters corresponding to the low motion sickness degree score WSCI, and use the vehicle operating parameters corresponding to the low motion sickness degree score WSCI as a benchmark to adjust the automatic driving vehicle operating parameters in the corresponding time period when the motion sickness state occurs, correct the automatic driving strategy, reduce the degree and probability of motion sickness of the occupants in the vehicle, and improve the riding comfort.

[0014] Further, the physiological monitoring module includes an electroencephalogram unit, an electrocardiogram unit, an electrogastric unit, and an electrodermal unit;

[0015] The EEG unit collects brain electrophysiological signals of the vehicle occupants in real time through a non-invasive head-mounted EEG device, the ECG unit collects cardiac electrophysiological signals of the vehicle occupants in real time through ECG collection electrodes, the GAST unit collects gastric electrophysiological signals of the vehicle occupants in real time through GAST collection electrodes, and the EG unit collects skin electrophysiological signals of the vehicle occupants in real time through skin electro collection electrodes.

[0016] Furthermore, when collecting physiological signals, one active electrode of the electrocardiogram collecting electrodes is located just below the right clavicle of the occupant, another active electrode is located just below the left chest cavity of the occupant, and the ground electrode is located just below the right chest cavity of the occupant;

[0017] One active electrode of the gastric electrogram collection electrodes is located 8 to 12 cm above the left umbilicus of the occupant, the other active electrode is located 2 to 5 cm above the umbilicus on the midline of the abdomen of the occupant, and the ground electrode is located 2 to 5 cm below the lowest front rib on the right side of the occupant;

[0018] The active electrode in the electroskin collection electrodes is located on the index finger of the occupant's non-dominant hand, and the ground electrode is located on the middle finger of the occupant's non-dominant hand.

[0019] Furthermore, in the signal preprocessing module, when time synchronization is performed on data of multiple physiological units, useless data and abnormal data that are not synchronized in the real-time collected data are eliminated, and the eliminated values ​​are filled using the same type mean method, and the filled physiological signals are filtered and denoised as the physiological signals to be input in the synchronized physiological signals.

[0020] Furthermore, in the motion sickness identification module (3), the calculation formula of the motion sickness degree score WSCI is:

[0021] WSCI=K1*EEG+K2*HR+K3*EGG+K4*GSR

[0022] In the formula,

[0023] WSCI is the degree of motion sickness of passengers.

[0024] EEG is the change in the occupant's brain electrophysiological signal.

[0025] K1 is the weight coefficient of the electrophysiological signal,

[0026] HR is the change in the passenger's electrocardiophysiological signal.

[0027] K2 is the weight coefficient of electrocardiographic physiological signal,

[0028] EGG is the change in gastric electrophysiological signal of the occupant.

[0029] K3 is the weight coefficient of gastric electrophysiological signal,

[0030] GSR is the change in the occupant's skin electrophysiological signal.

[0031] K4 is the weight coefficient of skin electrophysiological signal.

[0032] Furthermore, in the motion sickness correction module, the vehicle operating parameters under different autonomous driving conditions include lateral acceleration a1, longitudinal acceleration a2 and vertical acceleration a3. The vehicle operating parameters under the nth autonomous driving condition and the corresponding motion sickness score WSCI are recorded as [a1 n , a2 n , a3 n , WSCI n 】.

[0033] Furthermore, the motion sickness correction module also includes an in-vehicle air control module, a seat control module, and a lighting control module;

[0034] The in-car air control module is used to adjust the temperature and cleanliness of the air in the car and release fragrance through the in-car air conditioner, ventilation system and fragrance device, so as to alleviate the degree of motion sickness of the occupants;

[0035] The seat control module is used to alleviate the degree of motion sickness of the occupant by adjusting the seat state of the occupant to a comfortable sitting posture;

[0036] The light control module is used to alleviate the degree of motion sickness of the occupants by controlling the light state in the vehicle to be gentle and cool light.

[0037] The advantages of the present invention are:

[0038] 1. When determining whether an occupant is in a state of motion sickness, the present invention takes into account various physiological characteristics of the occupant in the state of riding, namely, brain electrophysiological signals, cardiac electrophysiological signals, gastric electrophysiological signals, and skin electrophysiological signals, especially sensitive gastric electrophysiological signals, and considers more comprehensive factors, so that the accuracy of motion sickness monitoring is higher;

[0039] 2. When judging whether the occupant is in a state of motion sickness, the present invention compares various physiological characteristics of the occupant in the state of motion sickness with the corresponding physiological characteristics in the static state, calculates the deviation, and multiplies the deviation of each physiological characteristic by the corresponding physiological characteristic weight coefficient as the motion sickness contribution value of the physiological signal, and the sum of the motion sickness contribution values ​​of the various physiological signals is the motion sickness degree score WSCI. By comparing the motion sickness degree score WSCI with the set threshold, it is judged whether the occupant is in a state of motion sickness;

[0040] 3. The present invention adjusts the automatic driving operation parameters (such as lateral acceleration a1, longitudinal acceleration a2 and vertical acceleration a3) when the passengers are in the motion sickness state, so as to reduce the degree and probability of motion sickness of the passengers in the vehicle. The specific method is as follows: firstly, the vehicle operation parameters and the corresponding motion sickness degree scores WSCI under different automatic driving conditions are recorded, and the vehicle operation parameters corresponding to the low motion sickness degree scores WSCI are found. Based on the vehicle operation parameters corresponding to the low motion sickness degree scores WSCI, the automatic driving vehicle operation parameters in the corresponding time period when the motion sickness state occurs are adjusted, and the automatic driving strategy is corrected;

[0041] 4. The present invention also reduces the degree of motion sickness of passengers in the vehicle and improves the riding comfort by adjusting the air condition, the seat condition and the lighting condition in the vehicle;

[0042] The present invention is based on a multi-modal motion sickness monitoring and control system, which can not only accurately determine whether the occupants of the unmanned electric vehicle are motion sickness, but also correct the automatic driving strategy when motion sickness occurs, reduce the degree and probability of motion sickness of the occupants in the vehicle, and improve the riding comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a framework diagram of the multi-modal motion sickness monitoring and control system of the present invention;

[0044] Figure 2 The diagram is a diagram of the electrode arrangement of the central electrical unit and the gastric electrical unit of the present invention;

[0045] Figure 3 The electrode arrangement diagram of the skin electrical unit in the present invention;

[0046] In the figure: physiological monitoring module 1, signal preprocessing module 2, motion sickness identification module 3, motion sickness correction module 4;

[0047] The physiological monitoring module 1 includes: an electroencephalogram unit 1-1, an electrocardiogram unit 1-2, an electrogastric unit 1-3, and an electrodermal unit 1-4;

[0048] The motion sickness correction module 4 includes: a vehicle information memory module 4-1, a driving state control module 4-2, an in-vehicle air control module 4-3, a seat control module 4-4, and a lighting control module 4-5. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0050] In the description of the present invention, it is necessary to understand that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0051] like Figure 1 As shown, the present invention provides a multi-modal motion sickness monitoring and control system, including a physiological monitoring module 1, a signal preprocessing module 2, a motion sickness identification module 3, and a motion sickness correction module 4.

[0052] The physiological monitoring module 1 is used to collect various physiological unit signals of the vehicle occupants in real time.

[0053] Specifically, the physiological monitoring module 1 includes an electroencephalogram unit 1-1, an electrocardiogram unit 1-2, an electrogastric unit 1-3, and an electrodermal unit 1-4.

[0054] The EEG unit 1-1 collects the brain electrophysiological signals of the vehicle occupants in real time through a non-invasive head-mounted electroencephalometer, the ECG unit 1-2 collects the cardiophysiological signals of the vehicle occupants in real time through ECG collection electrodes, the GAST unit 1-3 collects the gastric electrophysiological signals of the vehicle occupants in real time through GAST collection electrodes, and the EG unit 1-4 collects the skin electrophysiological signals of the vehicle occupants in real time through skin electro collection electrodes. The non-invasive collection equipment will not cause discomfort to the occupants when driving, and also reduces the scene requirements for data collection, and is not limited to the static lying posture of the subjects to collect the data, and has high operability.

[0055] The electroencephalogram can be normally worn by the passenger while driving without affecting his driving behavior, and is sent to the signal preprocessing module 2 after being processed by the electroencephalogram amplifier.

[0056] Specifically, when collecting physiological signals, one active electrode of the ECG collecting electrodes is located directly below the right clavicle of the occupant, the other active electrode is located directly below the left chest cavity of the occupant, and the ground electrode is located directly below the right chest cavity of the occupant; one active electrode of the gastric electricity collecting electrodes is located 8 to 12 cm above the left navel of the occupant, the other active electrode is located 2 to 5 cm above the navel on the midline of the occupant's abdomen, and the ground electrode is located 2 to 5 cm below the lowest front rib on the right side of the occupant.

[0057] In this embodiment, one of the active electrodes of the gastric electricity collection electrodes is located 10 cm above the left umbilicus of the occupant, the other active electrode is located 4 cm above the umbilicus on the midline of the abdomen of the occupant, and the ground electrode is located 3 cm below the lowest front rib of the occupant on the right side. Figure 2 shown.

[0058] The active electrode in the skin electrical collection electrode is located on the index finger of the occupant's non-dominant hand, and the ground electrode is located on the middle finger of the occupant's non-dominant hand. Figure 3 shown.

[0059] The signal preprocessing module 2 is used to perform time synchronization processing on the collected data of various physiological units to obtain synchronized physiological signals, and then segment the synchronized physiological signals according to time sequence to obtain segmented data of various physiological signals.

[0060] Preferably, in the signal preprocessing module 2, when time synchronization processing is performed on data of multiple physiological units, useless data and abnormal data that are not synchronized in the real-time collected data are eliminated, and the eliminated values ​​are padded using the same type mean method, and the padded physiological signals are filtered and denoised as the physiological signals to be input in the synchronized physiological signals.

[0061] The motion sickness identification module 3 is used to compare the segmented data of each physiological signal in the same time period with the corresponding static signal to obtain the change amount of the physiological signal, and at the same time assign a weight coefficient to the physiological signal. The product of the change amount of each physiological signal and the weight coefficient corresponding to the physiological signal is used as the motion sickness contribution value of the physiological signal. Finally, the sum of the motion sickness contribution values ​​of various physiological signals is used as the motion sickness degree score WSCI.

[0062] The static signals are various physiological unit signals of the vehicle occupants collected when the vehicle is not moving.

[0063] If the motion sickness score WSCI is greater than or equal to the set threshold, the occupant in this time period is determined to be in a motion sickness state; if the motion sickness score is less than the set threshold, the occupant in this time period is determined to be in a non-motion sickness state.

[0064] The set threshold value of the motion sickness state is set according to the specific vehicle.

[0065] When a passenger gets motion sickness, it is usually accompanied by observable phenomena such as increased body temperature, rapid breathing, nausea and discomfort. From the perspective of physiological signals, there will be changes such as increased EEG frequency, increased EEG energy spectrum density, and increased EEG fluctuation range. Similar changes will also occur in ECG, gastric electricity, and skin electricity, and they are positively correlated. That is, the physiological signals of static passengers in the non-driving state are quite different from those of passengers with motion sickness in the driving state. Therefore, the physiological signals of passengers in the driving state can be monitored and compared with the static physiological signals. The severity of motion sickness can be obtained by calculating the size of the deviation.

[0066] Specifically, the calculation formula of motion sickness score WSCI is:

[0067] WSCI=K1*EEG+K2*HR+K3*EGG+K4*GSR

[0068] In the formula,

[0069] WSCI is the degree of motion sickness of passengers.

[0070] EEG is the change in the occupant's brain electrophysiological signal.

[0071] K1 is the weight coefficient of the electrophysiological signal,

[0072] HR is the change in the passenger's electrocardiophysiological signal.

[0073] K2 is the weight coefficient of electrocardiographic physiological signal,

[0074] EGG is the change in gastric electrophysiological signal of the occupant.

[0075] K3 is the weight coefficient of gastric electrophysiological signal,

[0076] GSR is the change in the occupant's skin electrophysiological signal.

[0077] K4 is the weight coefficient of skin electrophysiological signal.

[0078] When judging whether an occupant is in a state of motion sickness, the present invention takes into account various physiological characteristics of the occupant in the riding state, namely, brain electrophysiological signals, cardiac electrophysiological signals, gastric electrophysiological signals, and skin electrophysiological signals, especially the sensitive gastric electrophysiological signals. The factors considered are more comprehensive, making the accuracy of motion sickness monitoring higher.

[0079] When the motion sickness determination module 3 determines that the occupant is in a motion sickness state according to changes in the occupant's physiological characteristics, the motion sickness correction module 4 executes a variety of motion sickness relief measures.

[0080] The motion sickness correction module 4 includes a vehicle information memory module 4-1 and a driving state control module 4-2. The vehicle information memory module 4-1 is used to record vehicle operating parameters and corresponding motion sickness degree scores WSCI under different automatic driving conditions.

[0081] The driving state control module 4-2 is used to compare the vehicle operating parameters corresponding to different motion sickness degree scores WSCI, obtain the automatic driving vehicle operating parameters corresponding to the low motion sickness degree score WSCI, and use the vehicle operating parameters corresponding to the low motion sickness degree score WSCI as a benchmark to adjust the automatic driving vehicle operating parameters in the corresponding time period when the motion sickness state occurs, correct the automatic driving strategy, reduce the degree and probability of motion sickness of the occupants in the vehicle, and improve the riding comfort.

[0082] In the motion sickness correction module 4, the vehicle operating parameters under different automatic driving conditions include but are not limited to the lateral acceleration a1, the longitudinal acceleration a2 and the vertical acceleration a3. The vehicle operating parameters under the nth automatic driving condition and the corresponding motion sickness score WSCI are recorded as [a1 n , a2 n , a3 n , WSCI n 】.

[0083] The driving state control module 4-2 outputs the vehicle operation parameters that can produce a low motion sickness score WSCI as the preferred parameters of a set of data, recorded as best [a1, a2, a3], and the calculation formula is best [a1, a2, a3] = {a1 n , a2 n , a3 n , min[WSCI n ]}.

[0084] The motion sickness correction module 4 also includes an in-vehicle air control module 4-3, a seat control module 4-4, and a lighting control module 4-5.

[0085] The in-car air control module 4-3 is used to adjust the temperature and cleanliness of the air in the car and release the fragrance through the in-car air conditioner, ventilation system and fragrance device, so as to alleviate the degree of motion sickness of the occupants;

[0086] The seat control module 4-4 is used to relieve the degree of motion sickness of the occupant by adjusting the seat state of the occupant to a comfortable sitting posture;

[0087] The light control module 4-5 is used to alleviate the degree of motion sickness of the occupants by controlling the light state in the vehicle to be gentle and cool light.

[0088] Of course, the corresponding adjustment states of the in-vehicle air control module 4-3, the seat control module 4-4, and the lighting control module 4-5 can also be customized by the passengers.

[0089] The present invention is based on a multi-modal motion sickness monitoring and control system, which can not only accurately determine whether the occupants of the unmanned electric vehicle are motion sickness, but also correct the automatic driving strategy when motion sickness occurs, reduce the degree and probability of motion sickness of the occupants in the vehicle, and improve the riding comfort.

[0090] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A multi-modal motion sickness monitoring and control system, characterized by: It comprises a physiological monitoring module (1), a signal preprocessing module (2), a motion sickness identification module (3), and a motion sickness correction module (4); The physiological monitoring module (1) is used to collect multiple physiological unit signals of vehicle occupants in real time; The signal preprocessing module (2) is used to perform time synchronization processing on the collected data of various physiological units to obtain synchronized physiological signals, and then segment the synchronized physiological signals according to time sequence to obtain segmented data of various physiological signals; The motion sickness identification module (3) is used to compare the segmented data of each physiological signal in the same time period with the corresponding static signal to obtain the change amount of the physiological signal, and at the same time assign a weight coefficient to the physiological signal, and use the product of the change amount of each physiological signal and the weight coefficient corresponding to the physiological signal as the motion sickness contribution value of the physiological signal, and finally use the sum of the motion sickness contribution values ​​of various physiological signals as the motion sickness degree score WSCI; If the motion sickness score WSCI is greater than or equal to the set threshold, the occupant is judged to be in a motion sickness state during this time period; if the motion sickness score is less than the set threshold, the occupant is judged to be in a non-motion sickness state during this time period; The static signals are various physiological unit signals of vehicle occupants collected when the vehicle is not in motion; The motion sickness correction module (4) comprises a vehicle information memory module (4-1) and a driving state control module (4-2), wherein the vehicle information memory module (4-1) is used to record vehicle operating parameters and corresponding motion sickness degree scores WSCI under different automatic driving conditions; The driving state control module (4-2) is used to compare the vehicle operating parameters corresponding to different motion sickness degree scores WSCI, obtain the automatic driving vehicle operating parameters corresponding to the low motion sickness degree score WSCI, and use the vehicle operating parameters corresponding to the low motion sickness degree score WSCI as a benchmark to adjust the automatic driving vehicle operating parameters in the corresponding time period when the motion sickness state occurs, correct the automatic driving strategy, reduce the degree and probability of motion sickness of the occupants in the vehicle, and improve the riding comfort.

2. The multimodal motion sickness monitoring and control system according to claim 1, characterized in that: The physiological monitoring module (1) comprises an electroencephalogram unit (1-1), an electrocardiogram unit (1-2), an electrogastric unit (1-3), and an electrodermal unit (1-4); The electroencephalogram unit (1-1) collects brain electrophysiological signals of vehicle occupants in real time through a non-invasive head-mounted electroencephalogram device, the electrocardiogram unit (1-2) collects electrocardiographic signals of vehicle occupants in real time through electrocardiographic collection electrodes, the electrogastric unit (1-3) collects gastric electrophysiological signals of vehicle occupants in real time through gastric electrophysiological collection electrodes, and the electrodermal unit (1-4) collects skin electrophysiological signals of vehicle occupants in real time through skin electrophysiological collection electrodes.

3. The multimodal motion sickness monitoring and control system according to claim 2, characterized in that: When collecting physiological signals, one active electrode of the electrocardiogram collecting electrodes is located just below the right clavicle of the occupant, another active electrode is located just below the left chest cavity of the occupant, and the ground electrode is located just below the right chest cavity of the occupant; One active electrode of the gastric electrogram collection electrodes is located 8 to 12 cm above the left umbilicus of the occupant, the other active electrode is located 2 to 5 cm above the umbilicus on the midline of the abdomen of the occupant, and the ground electrode is located 2 to 5 cm below the lowest front rib on the right side of the occupant; The active electrode in the electroskin collection electrodes is located on the index finger of the occupant's non-dominant hand, and the ground electrode is located on the middle finger of the occupant's non-dominant hand.

4. The multimodal motion sickness monitoring and control system according to claim 3, characterized in that: In the signal preprocessing module (2), when time synchronization processing is performed on the data of multiple physiological units, the useless data and abnormal data that are not synchronized in the real-time collected data are eliminated, and the eliminated values ​​are filled in using the same type mean method, and the filled physiological signals are filtered and denoised as the physiological signals to be input in the synchronized physiological signals.

5. The multimodal motion sickness monitoring and control system according to claim 1, characterized in that: The multimodal motion sickness monitoring and control system according to claim 1 is characterized in that: in the motion sickness identification module (3), the calculation formula of the motion sickness degree score WSCI is: WSCI=K1*EEG+K2*HR+K3*EGG+K4*GSR In the formula, WSCI is the degree of motion sickness of passengers. EEG is the change in the occupant's brain electrophysiological signal. K1 is the weight coefficient of the electrophysiological signal, HR is the change in the passenger's electrocardiophysiological signal. K2 is the weight coefficient of electrocardiographic physiological signal, EGG is the change in gastric electrophysiological signal of the occupant. K3 is the weight coefficient of gastric electrophysiological signal, GSR is the change in the occupant's skin electrophysiological signal. K4 is the weight coefficient of skin electrophysiological signal.

6. The multimodal motion sickness monitoring and control system according to claim 1, characterized in that: In the motion sickness correction module (4), the vehicle operating parameters under different automatic driving conditions include lateral acceleration a1, longitudinal acceleration a2 and vertical acceleration a3. The vehicle operating parameters under the nth automatic driving condition and the corresponding motion sickness score WSCI are recorded as [a1 n , a2 n , a3 n , WSCI n 】.

7. The multimodal motion sickness monitoring and control system according to claim 6, characterized in that: The motion sickness correction module (4) also includes an in-vehicle air control module (4-3), a seat control module (4-4), and a lighting control module (4-5); The in-vehicle air control module (4-3) is used to adjust the temperature and cleanliness of the air in the vehicle and release fragrance through the in-vehicle air conditioner, ventilation system and fragrance device, thereby alleviating the degree of motion sickness of the occupants; The seat control module (4-4) is used to alleviate the degree of motion sickness of the occupant by adjusting the seat state of the occupant to a comfortable sitting posture; The light control module (4-5) is used to alleviate the degree of motion sickness of the occupants by controlling the light state in the vehicle to be mild and cool light.

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