Multi-modal based motion sickness monitoring and control system

Abstract

The application discloses a kind of based on multi-modal car sickness monitoring and control system.It includes physiological monitoring module, signal pre-processing module, car sickness discrimination module and car sickness correction module;The physiological monitoring module is used to collect the physiological unit signal of multiple passengers on vehicle in real time;The signal pre-processing module is used to obtain multiple physiological signal segment data;The car sickness discrimination module is used to determine whether the passenger in a certain time period is car sickness state;The car sickness correction module is used to take the vehicle operating parameter corresponding to the low car sickness degree score WSCI as a benchmark, control the automatic driving vehicle operating parameter corresponding to the time period when car sickness state occurs, correct automatic driving strategy, reduce the car sickness degree and probability of passengers on vehicle.The application can not only accurately determine whether unmanned electric vehicle passengers are car sickness, but also correct automatic driving strategy when car sickness.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground energy storage, in particular to a car sickness monitoring and control system based on multi-modal. BACKGROUND

[0002] Car sickness is a problem that many car users cannot avoid, especially when encountering curves or urban traffic sections, high-frequency acceleration and deceleration become the main cause of triggering car sickness, and after car sickness, not only the driving concentration of the driver will be affected, but also the user experience of the passenger will be affected.

[0003] With the application of unmanned and electric vehicles, unmanned electric vehicles are gradually entering the market, and electric vehicles have strong power output characteristics and power recovery systems, which bring more convenience to users. Although the strong power output characteristics can improve the speed of electric vehicles, the acceleration feeling is also stronger, and the strong acceleration feeling is more likely to make the frequent start-up stage dizziness rise instantly; and the strong drag feeling of the power recovery system in the braking process is also too strong, and the strong drag feeling is also easy to cause car sickness.

[0004] The monitoring method for judging whether the passenger of the unmanned electric vehicle is car sickness in the prior art is difficult to accurately judge whether the user is car sickness due to considering fewer factors; and the relief measures for the car sickness of the passenger of the unmanned electric vehicle in the prior art are relatively simple, and the relief effect of the car sickness relief measures provided is difficult to meet the user requirements. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a car sickness monitoring and control system based on multi-modal, which can not only accurately judge whether the passenger of the unmanned electric vehicle is car sickness, but also correct the automatic driving strategy when car sickness occurs, reduce the degree and probability of car sickness of the passenger on the vehicle, and improve the riding comfort.

[0006] To achieve the above purpose, the car sickness monitoring and control system based on multi-modal designed by the present application has the following special features: it comprises a physiological monitoring module, a signal preprocessing module, a car sickness discrimination module, and a car sickness correction module.

[0007] The physiological monitoring module is used for real-time acquisition of multiple physiological unit signals of the passenger on the vehicle.

[0008] The signal preprocessing module is used for time synchronization processing of the acquired multiple physiological unit data to obtain synchronized physiological signals, and then data segmentation of the synchronized physiological signals according to time sequence to obtain multiple physiological signal segmentation data.

[0009] The motion sickness discrimination module is configured to compare each physiological signal segment data in the same time period with a corresponding static signal, obtain a change amount of the physiological signal, assign a weight coefficient to the physiological signal, take a product of the change amount of the physiological signal and the weight coefficient corresponding to the physiological signal as a motion sickness contribution value of the physiological signal, and finally take a sum of the motion sickness contribution values of various physiological signals as a motion sickness degree score WSCI.

[0010] If the motion sickness degree score WSCI is greater than or equal to a set threshold, it is determined that the occupant in the time period is in a motion sickness state; if the motion sickness degree score is less than the set threshold, it is determined that the occupant in the time period is in a non-motion sickness state.

[0011] The static signal is a plurality of physiological unit signals of the vehicle occupant collected in a non-driving state of the vehicle.

[0012] The motion sickness correction module includes a vehicle information memory module and a driving state control module, and the vehicle information memory module is configured to record vehicle operating parameters and corresponding motion sickness degree scores WSCI in different automatic driving conditions.

[0013] The driving state control module is configured to compare vehicle operating parameters corresponding to different motion sickness degree scores WSCI, obtain automatic driving vehicle operating parameters corresponding to a low motion sickness degree score WSCI, and take the vehicle operating parameters corresponding to the low motion sickness degree score WSCI as a reference to regulate the automatic driving vehicle operating parameters in the corresponding time period when the motion sickness state occurs, correct the automatic driving strategy, reduce the motion sickness degree and probability of the occupant in the vehicle, and improve the ride comfort.

[0014] Further, the physiological monitoring module includes an electroencephalogram unit, an electrocardiogram unit, a electrogastrogram unit, and a skin electricity unit.

[0015] The electroencephalogram unit collects the electroencephalogram physiological signal of the vehicle occupant in real time through a non-invasive head-mounted electroencephalogram instrument, the electrocardiogram unit collects the electrocardiogram physiological signal of the vehicle occupant in real time through an electrocardiogram collection electrode, the electrogastrogram unit collects the electrogastrogram physiological signal of the vehicle occupant in real time through an electrogastrogram collection electrode, and the skin electricity unit collects the skin electricity physiological signal of the vehicle occupant in real time through a skin electricity collection electrode.

[0016] Further, when collecting the physiological signal, one active electrode in the electrocardiogram collection electrode 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 a grounding electrode is located just below the right chest cavity of the occupant.

[0017] One of the active electrodes of the gastric electrogram collection electrodes is located 8 to 12 cm above the umbilicus on the left side 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 electrocutaneous 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 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.

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

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

[0022] Where,

[0023] WSCI is the passenger's motion sickness score.

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

[0025] K1 is the weight coefficient of the electroencephalographic physiological signal,

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

[0027] K2 is the electrophysiological signal weight coefficient,

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

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

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

[0031] K4 is the weight coefficient of the 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] Further, the car sickness correction module further comprises an in-vehicle air control module, a seat control module, and a light control module.

[0034] The in-vehicle air control module is used to adjust the temperature, cleanliness and release of fragrance of the in-vehicle air through the air conditioner, ventilation system and fragrance device in the vehicle, so as to relieve the car sickness degree of the passenger.

[0035] The seat control module is used to relieve the car sickness degree of the passenger by adjusting the seat state of the passenger to a comfortable sitting posture.

[0036] The light control module is used to relieve the car sickness degree of the passenger by controlling the light state in the vehicle to be a mild and cold light.

[0037] The advantages of the present application are:

[0038] 1. When judging whether the passenger is in a car sickness state, the present application considers the physiological characteristics of the passenger in the car state, i.e. the electroencephalogram physiological signal, the electrocardiogram physiological signal, the electrogastrogram physiological signal, and the skin electricity physiological signal, especially the sensitive electrogastrogram physiological signal, which makes the consideration more comprehensive and the accuracy of car sickness monitoring higher.

[0039] 2. When judging whether the passenger is in a car sickness state, the present application compares the physiological characteristics of the passenger in the car state with the corresponding physiological characteristics in the static state, calculates the deviation size, and takes the product of the deviation size of each physiological characteristic and the corresponding physiological characteristic weight coefficient as the car sickness contribution value of the physiological signal, and the sum of the car sickness contribution values of multiple physiological signals is taken as the car sickness degree score WSCI. Through the comparison between the car sickness degree score WSCI and the set threshold value, it is judged whether the passenger is in a car sickness state.

[0040] 3. The present application adopts the automatic driving operation parameters (such as lateral acceleration a1, longitudinal acceleration a2 and vertical acceleration a3) in the car sickness state to reduce the car sickness degree and probability of the passenger in the vehicle, and the specific method is as follows: first, record the vehicle operation parameters and the corresponding car sickness degree score WSCI in different automatic driving conditions, find the vehicle operation parameters corresponding to the low car sickness degree score WSCI, and take the vehicle operation parameters corresponding to the low car sickness degree score WSCI as the reference to adjust the automatic driving vehicle operation parameters in the corresponding time period when the car sickness state occurs, and correct the automatic driving strategy.

[0041] 4. The present application also reduces the car sickness degree of the passenger in the vehicle and improves the car comfort by adjusting the in-vehicle air condition, the passenger seat state and the in-vehicle light state.

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

[0043] Figure 1 This is a framework diagram of the multimodal motion sickness monitoring and control system of the present invention;

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

[0045] Figure 3 This is a diagram of the electrode arrangement of the electrodermal 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 electricity unit 1-3, and an electrodermal electricity 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 with reference to the accompanying drawings and specific embodiments.

[0050] In the description of the present invention, it should be understood 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 accompanying 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 multimodal motion sickness monitoring and control system, which includes 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 comprises an electroencephalogram unit 1-1, an electrocardiogram unit 1-2, an electrogastrogram unit 1-3, and an electrodermal unit 1-4.

[0054] The electroencephalogram unit 1-1 collects the electroencephalogram physiological signals of the occupant in the vehicle in real time through a non-invasive head-mounted electroencephalogram instrument, the electrocardiogram unit 1-2 collects the electrocardiogram physiological signals of the occupant in the vehicle in real time through electrocardiogram collection electrodes, the electrogastrogram unit 1-3 collects the electrogastrogram physiological signals of the occupant in the vehicle in real time through electrogastrogram collection electrodes, and the electrodermal unit 1-4 collects the electrodermal physiological signals of the occupant in the vehicle in real time through electrodermal collection electrodes. The non-invasive collection device does not cause discomfort to the occupant when driving, and at the same time, the scene requirement for data collection is reduced, and it is not limited to the collection posture of a static lying subject, and has high operability.

[0055] The electroencephalogram instrument can be normally worn by the occupant when driving, does not affect the driving behavior, and is sent to the signal preprocessing module 2 after being processed by an electroencephalogram amplifier.

[0056] Specifically, when collecting physiological signals, one active electrode in the electrocardiogram collection 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 a grounding electrode is located just below the right chest cavity of the occupant; one active electrode in the electrogastrogram collection electrodes is located at a position 8-12 cm above the left umbilical region of the occupant, another active electrode is located at a position 2-5 cm above the umbilical region on the midline of the abdomen of the occupant, and a grounding electrode is located at a position 2-5 cm below the lowest anterior rib on the right side of the occupant.

[0057] In this embodiment, one active electrode in the electrogastrogram collection electrodes is located at a position 10 cm above the left umbilical region of the occupant, another active electrode is located at a position 4 cm above the umbilical region on the midline of the abdomen of the occupant, and a grounding electrode is located at a position 3 cm below the lowest anterior rib on the right side of the occupant, as shown in Figure 2 .

[0058] The active electrode in the electrodermal collection electrodes is located on the index finger of the non-dominant hand of the occupant, and the grounding electrode is located on the middle finger of the non-dominant hand of the occupant, as shown in Figure 3 .

[0059] The signal preprocessing module 2 is used for time synchronization processing of the collected multiple physiological unit data, obtaining synchronized physiological signals, and then data segmentation of the synchronized physiological signals in time sequence, to obtain multiple physiological signal segmented data.

[0060] Preferably, in the signal preprocessing module 2, when the multiple physiological unit data are time-synchronized, the unsynchronized useless data and abnormal data in the real-time collected data are removed, the removed values are filled by using the same type mean value method, and the filled physiological signals are filtered and denoised as the input physiological signals in the synchronized physiological signals.

[0061] The motion sickness discrimination module 3 is used for comparing each physiological signal segmented data in the same time period with the corresponding static signal, obtaining the physiological signal change amount, assigning a weight coefficient to the physiological signal, taking the product of the physiological signal change amount and the weight coefficient corresponding to the physiological signal as the motion sickness contribution value of the physiological signal, and finally taking the sum of the motion sickness contribution values of the various physiological signals as the motion sickness degree score WSCI.

[0062] The static signal is the multiple physiological unit signals of the vehicle occupant collected in the non-driving state of the vehicle.

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

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

[0065] When the occupant has motion sickness, it is usually accompanied by observable phenomena such as increased body temperature, rapid breathing, nausea and discomfort, etc. 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, Gastrointestinal electricity and skin electricity, and they are positively correlated. That is, there is a big difference between the static occupant physiological signals in the non-driving state and the occupant physiological signals in the driving state with motion sickness. Therefore, the occupant's physiological signals 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 deviation.

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

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

[0068] In the formula,

[0069] WSCI is the motion sickness degree score of the occupant,

[0070] EEG is the change amount of the occupant's EEG physiological signal,

[0071] K1 is the weight coefficient of the EEG physiological signal,

[0072] HR is the change amount of the passenger's electrocardiophysiological signal,

[0073] K2 is a weight coefficient of the electrocardiophysiological signal,

[0074] EGG is the change amount of the passenger's electrogastrophysiological signal,

[0075] K3 is a weight coefficient of the electrogastrophysiological signal,

[0076] GSR is the change amount of the passenger's galvanic skin response signal,

[0077] K4 is a weight coefficient of the galvanic skin response signal.

[0078] In the judgment of whether the passenger is in a car sickness state, the present application considers the physiological characteristics of the passenger in the car state, i.e. the electroencephalophysiological signal, the electrocardiophysiological signal, the electrogastrophysiological signal, and the galvanic skin response signal, especially the sensitive electrogastrophysiological signal, and the consideration factors are more comprehensive, so that the accuracy of car sickness monitoring is higher.

[0079] When the car sickness discrimination module 3 judges that the passenger is in a car sickness state according to the change of the passenger's physiological characteristics, the car sickness correction module 4 is used to execute a plurality of car sickness relief measures.

[0080] The car 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 the vehicle running parameters in different automatic driving working conditions and the corresponding car sickness degree score WSCI.

[0081] The driving state control module 4-2 is used to compare the vehicle running parameters corresponding to different car sickness degree scores WSCI, obtain the automatic driving vehicle running parameters corresponding to the low car sickness degree score WSCI, and take the vehicle running parameters corresponding to the low car sickness degree score WSCI as the benchmark to regulate and control the automatic driving vehicle running parameters in the corresponding time period when the car sickness state occurs, correct the automatic driving strategy, reduce the car sickness degree and probability of the passenger on the vehicle, and improve the car riding comfort.

[0082] In the car sickness correction module 4, the vehicle running parameters in different automatic driving working conditions include but are not limited to lateral acceleration a1, longitudinal acceleration a2 and vertical acceleration a3, the vehicle running parameters in the nth automatic driving working condition and the corresponding car sickness degree 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 generate a low degree of car sickness score WSCI as the preferred parameters of a set of data, denoted as best

a1, a2, a3

a1, a2, a3

[0084] The car sickness correction module 4 further includes an in-vehicle air control module 4-3, a seat control module 4-4, and a light control module 4-5.

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

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

[0087] The light control module 4-5 is used to relieve the degree of car sickness of the passenger by controlling the light state in the vehicle to be a mild and cold 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 light control module 4-5 can also be customized by the passenger.

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

[0090] The above embodiments are the preferred embodiments of the present application, but the embodiments of the present application are not limited by the above embodiments, and any changes, modifications, substitutions, combinations and simplifications made without departing from the spirit and principles of the present application should be equivalent replacement methods, and are all included in the protection scope of the present application.

Claims

1. A multimodal motion sickness monitoring and control system, characterized by: It includes 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 multiple physiological unit data to obtain synchronized physiological signals, and then segment the synchronized physiological signals according to time sequence to obtain multiple physiological signal segmented data; The motion sickness discrimination 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 WSCI is greater than or equal to the set threshold, the occupant is judged to be in a motion sickness state during that time period; if the WSCI is less than the set threshold, the occupant is judged to be in a non-motion sickness state during that time period; The static signals are various physiological unit signals of the vehicle occupants collected when the vehicle is not moving; 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 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 vehicle occupants, 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 (EEG) unit (1-1), an electrocardiogram (ECG) unit (1-2), an electrogastric (EGG) unit (1-3), and an electrodermal (EDG) unit (1-4); The electroencephalogram (EEG) unit (1-1) collects the electroencephalogram (EB) physiological signals of the vehicle occupants in real time through a non-invasive head-mounted EEG device; the electrocardiogram (ECG) unit (1-2) collects the electrocardiogram (ECG) physiological signals of the vehicle occupants in real time through ECG collection electrodes; the electrogastric (EGG) unit (1-3) collects the electrogastric (EGG) physiological signals of the vehicle occupants in real time through GG collection electrodes; and the electrodermal (EGG) unit (1-4) collects the electrodermal (EGG) physiological signals of the vehicle occupants in real time through GG 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 of the active electrodes of the gastric electrogram collection electrodes is located 8 to 12 cm above the umbilicus on the left side 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 electrocutaneous 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 performing time synchronization processing 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 discrimination module (3), the calculation formula of the motion sickness degree score WSCI is: WSCI=K1*EEG+K2*HR+K3*EGG+K4*GSR Where, WSCI is the passenger's motion sickness score. EEG is the change in the occupant's brain electrophysiological signal. K1 is the weight coefficient of the electroencephalographic physiological signal, HR is the change in the passenger's electrocardiographic signal. K2 is the electrophysiological signal weight coefficient, EGG is the change in gastric electrophysiological signal of the occupant, K3 is the gastric electrophysiological signal weight coefficient, GSR is the change in the occupant's skin electrophysiological signal. K4 is the weight coefficient of the 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) further includes an in-vehicle air control module (4-3), a seat control module (4-4), and a lighting control module (4-5); The in-car air control module (4-3) 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, 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 or cool light.

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