Anti-carsickness system and device and vehicle

Abstract

The invention relates to the technical field of automobile driving assistance, and discloses an anti-carsickness system and device and a vehicle, and the system comprises a data collection module which is used for collecting dynamic parameters of the vehicle, including a longitudinal acceleration epsilon and a transverse acceleration theta; the instantaneous carsickness index calculation module is only used for calculating an instantaneous carsickness index phi 1 according to the longitudinal acceleration and the transverse acceleration of the vehicle; the carsickness index evaluation module is used for judging whether a discomfort prompt is triggered or not based on the threshold value of the instantaneous carsickness index; and the road section marking module is used for marking the position where the instantaneous carsickness index exceeds a threshold value on the vehicle driving track in real time so as to mark the conditions of sharp turning, sharp acceleration, sharp deceleration and traffic jam. According to the method, the instantaneous carsickness index is calculated through a simplified formula, calculation is carried out only depending on the transverse acceleration and the longitudinal acceleration of the vehicle, dependence on a complex model is reduced, the high calculation power requirement of a large model is avoided, and therefore the system can run in real time in the low calculation power environment, and operation feedback is provided in time.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile driving assistance, and in particular to an anti-motion sickness system, device and vehicle. Background Art

[0002] During the driving process of a vehicle, motion sickness is mainly caused by the brain's inability to quickly and accurately predict the direction of movement, resulting in difficulty for the brain to effectively control itself when the vehicle undergoes unexpected movement changes, resulting in physiological discomfort and confusion. Motion sickness, a physiological phenomenon, can have a great impact on passengers' riding experience, so many existing patents attempt to alleviate passengers' motion sickness symptoms from a physiological perspective. For example, some technologies use virtual reality to simulate the environment outside the vehicle and correct passengers' brain confusion through visual adjustments. Or they use physiological recognition technologies such as facial recognition to automatically identify passengers who suffer from motion sickness, and then adjust the air conditioning mode or release specific gases to relieve passengers' discomfort. In addition, there are also technical solutions to alleviate motion sickness symptoms by improving the comfort of seats.

[0003] However, these existing anti-motion sickness solutions mostly focus on alleviating the physiological reactions of passengers, but pay less attention to preventing the occurrence of motion sickness from the driver's operating behavior. Some of them generally rely on complex models or big data models. This calculation method not only requires the support of high-computing power equipment, but also increases the processing delay of the system, making it difficult to meet the needs of real-time feedback. This reliance on high computing power makes it difficult for the anti-motion sickness system to run on low-performance hardware or embedded devices, thereby limiting the popularity and application of the system. How to achieve effective real-time motion sickness index calculation in a low-computing power environment has become a difficult problem for existing anti-motion sickness systems;

[0004] Secondly, existing anti-motion sickness systems usually only focus on the instantaneous impact of a single operation, and lack a comprehensive analysis of driving behavior over a long period of time or a complete journey. This makes it difficult for drivers to understand the cumulative impact of their overall driving style on passenger comfort. Especially in the case of long-term driving, it is difficult for drivers to obtain an overall comfort assessment from the system and cannot identify and improve bad driving habits. Therefore, how to provide a comprehensive comfort assessment for a period of time, a certain journey or a complete driving cycle is an urgent need for existing anti-motion sickness systems.

[0005] Finally, existing driving monitoring systems find it difficult to accurately associate passengers' discomfort with specific driving operations and road sections, which makes it difficult for drivers to find the cause of the discomfort when reviewing their trip. In particular, when encountering sharp turns, sudden acceleration, sudden deceleration or traffic jams, the lack of marking and feedback functions for these specific sections makes it impossible for drivers to clearly understand how their specific operations affect passenger comfort. Therefore, how to achieve real-time marking of uncomfortable behaviors and associate them with specific driving sections in subsequent feedback is a major problem that existing anti-motion sickness systems need to solve. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an anti-motion sickness system, device and vehicle, which solves the problem that the existing anti-motion sickness system relies on a high-computing big data model and cannot conveniently calculate the motion sickness index in real time.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an anti-motion sickness system, comprising:

[0008] The data acquisition module is used to collect the dynamic parameters of the vehicle, including the longitudinal acceleration ∈ and the lateral acceleration θ;

[0009] The instantaneous motion sickness index calculation module is only used to calculate the instantaneous motion sickness index φ based on the longitudinal acceleration and lateral acceleration of the vehicle. 1 ;

[0010] The motion sickness index evaluation module is used to determine whether to trigger discomfort prompts based on the threshold of the instantaneous motion sickness index;

[0011] The road segment marking module is used to mark the locations where the instantaneous motion sickness index exceeds the threshold in real time on the vehicle's driving trajectory, so as to mark sharp turns, sudden acceleration, sudden deceleration and traffic jams.

[0012] Preferably, the instantaneous motion sickness index φ 1 The calculation formula is:

[0013]

[0014] Among them, a and b are weighting coefficients, a max (v) is the maximum weighted acceleration of the vehicle, which is defined as:

[0015]

[0016] Preferably, the sharp turn is determined based on the lateral acceleration θ, and when it exceeds a certain threshold, it is determined that a sharp left turn or a sharp right turn occurs;

[0017] The rapid acceleration and rapid deceleration can be determined as rapid acceleration or rapid deceleration when the longitudinal acceleration ∈ exceeds or falls below a certain positive threshold.

[0018] Preferably, the specific steps of determining whether a sharp left turn or a sharp right turn occurs are as follows:

[0019] a. Obtain the lateral acceleration θ of the vehicle in real time;

[0020] b. If θ is greater than the preset threshold θ for a sharp left turn, it is considered that a sharp left turn has occurred;

[0021] c. Mark the road section as a sharp left turn area and combine it with the instantaneous motion sickness index φ 1 Keep records;

[0022] d. If θ is greater than the preset threshold θ for a sharp right turn, it is considered that a sharp right turn has occurred;

[0023] e. Mark the road section as a sharp right turn area and combine it with the instantaneous motion sickness index φ 1 Record;

[0024] The specific steps for determining sudden acceleration or deceleration are as follows:

[0025] a. Obtain the longitudinal acceleration∈ of the vehicle in real time;

[0026] b. If ∈ exceeds the threshold value ∈ of rapid acceleration, rapid acceleration is considered to have occurred;

[0027] c. Mark the road section as a rapid acceleration area and combine it with the instantaneous motion sickness index φ 1 Record;

[0028] d. If ∈ exceeds the threshold value ∈ of sudden deceleration, it is considered that sudden deceleration has occurred;

[0029] e. Mark the road section as a rapid deceleration area and combine it with the instantaneous motion sickness index φ 1 Record.

[0030] Preferably, the traffic jam is determined based on vehicle speed and time, and the specific determination conditions are as follows:

[0031] v <v low and

[0032] Among them, is the threshold of low vehicle speed, is the rate of change of vehicle speed per unit time, γ is the threshold value of vehicle stopping or slow speed, which is generally close to 0. The specific determination steps are as follows:

[0033] a. Get the speed v of the vehicle in real time;

[0034] b. Determine whether the vehicle's speed remains within the low speed range for a long time;

[0035] c. Combined with the speed change rate, if the vehicle starts and stops frequently, it will be marked as a traffic jam;

[0036] d. Mark the discomfort in the traffic jam section and combine it with the instantaneous motion sickness index φ 1 Make a record.

[0037] Preferably, the threshold is determined by experimental data and analysis of driver operation behavior, specifically including:

[0038] a. Collect the longitudinal acceleration and lateral acceleration data of the vehicle under different driving conditions;

[0039] b. Combine passengers’ subjective motion sickness feedback to determine the instantaneous motion sickness index threshold that causes discomfort in the case of rapid acceleration, rapid deceleration, and sharp turns;

[0040] The threshold value may be dynamically adjusted according to different passenger types and different vehicle types to optimize the prediction of passenger discomfort.

[0041] Preferably, it also includes a comprehensive motion sickness index calculation module for calculating the instantaneous motion sickness index φ within a set time period. 1 Calculate the average or combined motion sickness index φ 2 , the comprehensive motion sickness index φ 2 The calculation formula is:

[0042]

[0043] Among them, t1 and t2 are the set start and end time respectively, f(φ 1 ) is a weight function related to the instantaneous motion sickness index. When φ is larger, a larger weight coefficient can be taken to reflect the driver's comprehensive driving situation.

[0044] Preferably, the weight function f(φ 1 ) Combine the vehicle's real-time speed v and the type of road it is traveling on to make dynamic adjustments, including:

[0045] a. In different scenarios of highways, urban roads and rural roads, different weight coefficients are set according to the road type;

[0046] b. When driving at high speed, increase the weight coefficient to more strongly reflect the discomfort of passengers caused by sudden acceleration and sharp turns;

[0047] c. When driving at low speed, reduce the weight coefficient to reduce the impact of slight operations on the instantaneous motion sickness index;

[0048] d. The weight coefficient is adjusted based on preset rules for road types and can also change dynamically in combination with real-time navigation data.

[0049] Preferably, the data acquisition module is further used to obtain the map information and real-time coordinates of the vehicle, and combines the operation behavior of the vehicle driving section marked by the road section marking module with the instantaneous motion sickness index φ 1 Determine the road section and operating behavior corresponding to the inappropriate behavior.

[0050] A vehicle, comprising the anti-motion sickness system according to claims 1-9, wherein the vehicle collects dynamic parameters in real time, calculates the instantaneous motion sickness index, and marks the road sections corresponding to the uncomfortable behaviors through the anti-motion sickness system.

[0051] The present invention provides an anti-motion sickness system, device and vehicle, which have the following beneficial effects:

[0052] 1. The present invention calculates the instantaneous motion sickness index through a simplified formula, relying only on the lateral acceleration and longitudinal acceleration of the vehicle for calculation, thereby reducing the dependence on complex models and avoiding the high computing power requirements of large models. Therefore, the system can run in real time in a low computing power environment, thereby providing timely operation feedback.

[0053] 2. The present invention comprehensively calculates the instantaneous motion sickness index within a period of time, a certain journey or a single driving cycle to provide the driver with an assessment of the overall driving comfort. This comprehensive index reflects the driver's overall driving style, and is particularly helpful in discovering the part of driving habits that affects passenger comfort during long-term driving, thereby helping the driver to improve his driving behavior and enhance the overall riding experience of passengers.

[0054] 3. The present invention marks in real time the specific road sections where the instantaneous motion sickness index exceeds the threshold when the vehicle makes a sharp turn, accelerates suddenly, decelerates suddenly, or encounters a traffic jam. The system associates the marked road sections with the passengers' discomfort through subsequent feedback, so that the driver can clearly understand which operations or road sections are likely to cause motion sickness. This road section marking and feedback function based on the driving trajectory provides detailed data support for the driver, helping him to improve his driving behavior in subsequent driving and avoid the recurrence of discomfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the system module of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Embodiment 1:

[0058] Please refer to the attached Figure 1 , an embodiment of the present invention provides an anti-motion sickness system, comprising:

[0059] The data acquisition module is used to collect the dynamic parameters of the vehicle, including the longitudinal acceleration ∈ and the lateral acceleration θ;

[0060] The instantaneous motion sickness index calculation module is only used to calculate the instantaneous motion sickness index φ based on the longitudinal acceleration and lateral acceleration of the vehicle. 1 ;

[0061] The motion sickness index evaluation module is used to determine whether to trigger discomfort prompts based on the threshold of the instantaneous motion sickness index;

[0062] The road segment marking module is used to mark the locations where the instantaneous motion sickness index exceeds the threshold in real time on the vehicle's driving trajectory, so as to mark sharp turns, sudden acceleration, sudden deceleration and traffic jams;

[0063] Instantaneous motion sickness index φ 1 The calculation formula is:

[0064]

[0065] Among them, a and b are weighting coefficients, a max (v) is the maximum weighted acceleration of the vehicle, which is defined as:

[0066]

[0067] In this embodiment, different types of vehicles have different power performances, so the maximum weighted acceleration of each type of vehicle will also be different. max (v) refers to the maximum weighted acceleration that a vehicle can achieve. This parameter can be obtained by testing the vehicle performance in advance.

[0068] Sharp turns are determined based on the lateral acceleration θ. When it exceeds a certain threshold, it is considered a sharp left turn or a sharp right turn.

[0069] The rapid acceleration and rapid deceleration can be determined as rapid acceleration or rapid deceleration when the longitudinal acceleration ∈ exceeds or falls below a certain positive threshold;

[0070] The specific steps for identifying sharp left and right turns are as follows:

[0071] a. Obtain the lateral acceleration θ of the vehicle in real time;

[0072] b. If θ is greater than the preset threshold θ for a sharp left turn, it is considered that a sharp left turn has occurred;

[0073] c. Mark the road section as a sharp left turn area and combine it with the instantaneous motion sickness index φ 1 Keep records;

[0074] d. If θ is greater than the preset threshold θ for a sharp right turn, it is considered that a sharp right turn has occurred;

[0075] e. Mark the road section as a sharp right turn area and combine it with the instantaneous motion sickness index φ 1 Record;

[0076] The specific steps for determining sudden acceleration or deceleration are as follows:

[0077] a. Obtain the longitudinal acceleration∈ of the vehicle in real time;

[0078] b. If ∈ exceeds the threshold value ∈ of rapid acceleration, rapid acceleration is considered to have occurred;

[0079] c. Mark the road section as a rapid acceleration area and combine it with the instantaneous motion sickness index φ 1 Record;

[0080] d. If ∈ exceeds the threshold value ∈ of sudden deceleration, it is considered that sudden deceleration has occurred;

[0081] e. Mark the road section as a rapid deceleration area and combine it with the instantaneous motion sickness index φ 1 Record;

[0082] Traffic jams are determined based on vehicle speed and time. The specific criteria are as follows:

[0083] v <v low and

[0084] Among them, is the threshold of low vehicle speed, is the rate of change of vehicle speed per unit time, γ is the threshold value of vehicle stopping or slowing down, γ is generally close to 0, and the specific determination steps are as follows:

[0085] a. Get the speed v of the vehicle in real time;

[0086] b. Determine whether the vehicle's speed remains within the low speed range for a long time;

[0087] c. Combined with the speed change rate, if the vehicle starts and stops frequently, it will be marked as a traffic jam;

[0088] d. Mark the discomfort in the traffic jam section and combine it with the instantaneous motion sickness index φ 1 Keep records;

[0089] The threshold is determined by experimental data and analysis of driver operation behavior, including:

[0090] a. Collect the longitudinal acceleration and lateral acceleration data of the vehicle under different driving conditions;

[0091] b. Combine passengers’ subjective motion sickness feedback to determine the instantaneous motion sickness index threshold that causes discomfort in the case of rapid acceleration, rapid deceleration, and sharp turns;

[0092] The threshold value can be dynamically adjusted according to different passenger types and different vehicle types to optimize the prediction of passenger discomfort;

[0093] The data acquisition module is further used to obtain the map information and real-time coordinates of the vehicle, and combines the operation behavior of the vehicle driving section marked by the road section marking module with the instantaneous motion sickness index φ 1 Determine the road section and operating behavior corresponding to the inappropriate behavior.

[0094] Specifically, the system can identify dynamic situations such as sharp turns, sudden acceleration, sudden deceleration and traffic jams based on the vehicle's acceleration and deceleration data, and mark these uncomfortable behaviors in the driving trajectory. Through this function, the driver can analyze which driving behaviors and road sections have caused uncomfortable reactions afterwards, so as to avoid similar situations as much as possible in future driving. This combination of real-time and historical annotation provides the driver with comprehensive driving feedback. The judgment of sharp turns is based on lateral acceleration. The system identifies sharp turns by obtaining the vehicle's lateral acceleration in real time and comparing it with a preset threshold. When the lateral acceleration exceeds the set threshold, the system will mark the road section as a sharp turn and record the operation in combination with the instantaneous motion sickness index. Through this function, the system can quickly Identify the driver's sharp turn operation, help the driver understand whether sharp turns are frequently made in certain sections of the road, and provide improvement suggestions to reduce passengers' discomfort. The judgment of sudden acceleration and deceleration is based on the longitudinal acceleration. When the longitudinal acceleration exceeds or falls below the preset positive and negative thresholds, the system determines it as sudden acceleration or sudden deceleration, respectively. The system will obtain the longitudinal acceleration of the vehicle in real time and compare it with the preset sudden acceleration and sudden deceleration thresholds. If it exceeds the threshold, the system will mark the section as a sudden acceleration or sudden deceleration area, and record the behavior in combination with the instantaneous motion sickness index. This function enables the driver to understand which operations cause discomfort to passengers, so as to make improvements in future driving. The judgment of traffic jams is based on the speed and time of the vehicle. The system uses real-time Monitor the speed of the vehicle and determine whether a traffic jam occurs based on the rate of change of the vehicle's speed. Specifically, the system determines whether the vehicle maintains a low speed range for a long time, and based on frequent starts and stops, marks the section as a traffic jam area. If the vehicle is at a low speed for a long time and brakes frequently, the section will be marked as an uncomfortable behavior area by the system. Through this function, the driver can identify which sections are prone to traffic jams, so as to adjust the driving route or driving behavior to reduce passenger discomfort. The threshold is determined by experimental data and analysis of the driver's operating behavior. Specifically, the system uses the longitudinal acceleration and lateral acceleration data under different driving conditions, combined with the subjective feedback of the passengers, to determine the instantaneous motion sickness in the case of sudden acceleration, sudden deceleration and sharp turns. Index threshold, this function ensures that the system can accurately set the criteria for judging uncomfortable behavior based on actual driving behavior and passenger feedback, thereby improving the accuracy and adaptability of the system. In addition, the system can dynamically adjust the threshold according to the type of passenger and vehicle type to optimize the prediction and feedback of discomfort. The data acquisition module is further used to obtain the map information and real-time coordinates of the vehicle, and combined with the operation behavior of the vehicle driving section marked by the road section marking module, the system can combine the calculation results of the instantaneous motion sickness index to determine the location of each triggering of uncomfortable behavior and record it on the map. In this way, the driver can view the specific location of each operation after the trip, and understand in detail how certain operations or specific sections affect the passengers' feelings.This function combined with map information provides drivers with rich data support, helping them to better plan their routes and adjust their driving habits.

[0095] The integrated motion sickness index calculation module is also included, which is used to calculate the motion sickness index φ based on the instantaneous motion sickness index φ within a set time period. 1 Calculate the average or combined motion sickness index φ 2 , the comprehensive motion sickness index φ 2 The calculation formula is:

[0096]

[0097] Among them, t1 and t2 are the set start and end time respectively, f(φ 1 ) is a weight function related to the instantaneous motion sickness index. When φ is larger, a larger weight coefficient can be used to reflect the driver's comprehensive driving situation;

[0098] The weight function f(φ 1 ) Combine the vehicle's real-time speed v and the type of road it is traveling on to make dynamic adjustments, including:

[0099] a. In different scenarios of highways, urban roads and rural roads, different weight coefficients are set according to the road type;

[0100] b. When driving at high speed, increase the weight coefficient to more strongly reflect the discomfort of passengers caused by sudden acceleration and sharp turns;

[0101] c. When driving at low speed, reduce the weight coefficient to reduce the impact of slight operations on the instantaneous motion sickness index;

[0102] d. The weight coefficient is adjusted based on preset rules for road types and can also change dynamically in combination with real-time navigation data.

[0103] Specifically, the calculation formula of the comprehensive motion sickness index calculates the weighted average of the instantaneous motion sickness index within a specified time period, and finally obtains the comprehensive motion sickness index that can reflect the overall driving stability of the vehicle. This formula defines the calculation interval by setting the start and end time, and dynamically adjusts the weight function according to the size of the instantaneous motion sickness index, so that large changes such as sudden acceleration and deceleration have a more significant impact on the comprehensive motion sickness index. While comprehensively considering driving behavior, this method provides an overall comfort evaluation of driving style, which helps drivers optimize driving habits from a holistic perspective to reduce passengers' motion sickness and improve driving comfort; the weight function structure in the comprehensive motion sickness index calculation module The system dynamically adjusts according to the real-time speed of the vehicle and the type of road to adapt to different driving environments. In different scenarios such as highways, urban roads and rural roads, the system presets different weight coefficients according to the road type to ensure that the comprehensive motion sickness index can more accurately reflect the passengers' motion sickness feelings under various road conditions. For example, in high-speed driving scenarios, the system increases the weight coefficient, especially the impact of operations such as sudden acceleration and sharp turns, so that the instantaneous motion sickness index at high speeds more directly affects the comprehensive index. This adjustment method increases the system's sensitivity to passenger discomfort during high-speed operations, allowing drivers to be more cautious in this environment, optimize driving behavior, and improve ride stability.

[0104] The system also includes a behavior statistics and feedback module, which is used to generate a driving summary after the trip. The driving summary includes an instantaneous motion sickness index, a comprehensive motion sickness index, a location where the instantaneous motion sickness index exceeds a threshold, and the operating behavior of the vehicle driving section marked by a section marking module. The generated driving summary can reflect those places in the entire driving section that will make people motion sick, thereby providing feedback to the driver on the discomfort caused by specific sections and operating behaviors, and generating comprehensive statistical information.

[0105] Embodiment 2:

[0106] A vehicle, comprising the anti-motion sickness system according to claims 1-9, wherein the vehicle collects dynamic parameters in real time, calculates the instantaneous motion sickness index, and marks the road sections corresponding to the uncomfortable behaviors through the anti-motion sickness system.

[0107] Specifically, the vehicle uses the anti-motion sickness device to collect dynamic parameters in real time, calculate the instantaneous motion sickness index, and mark the road sections corresponding to the uncomfortable behavior. The anti-motion sickness device in the vehicle first collects dynamic parameters such as longitudinal acceleration and lateral acceleration in real time through the data acquisition module, reflecting the dynamic changes of the vehicle under different driving conditions, such as acceleration, deceleration, and turning. The instantaneous motion sickness index calculation module of the device uses a simplified formula based on the collected dynamic data to instantly calculate the instantaneous motion sickness index, accurately describing the impact of the current driving behavior on passenger comfort; this calculation method not only reduces the dependence on high computing power, but also can provide the driver with efficient and timely feedback. The motion sickness index evaluation module will compare the instantaneous motion sickness index with the preset threshold to determine whether it is necessary to trigger an discomfort prompt. If it exceeds the threshold, the driver will be reminded The current operation may cause discomfort to passengers, so that the driver can quickly adjust the behavior and improve the comfort of passengers. The road section marking module will accurately mark the operation behavior that exceeds the motion sickness index threshold on the driving trajectory, especially for adverse operations such as sudden acceleration, sudden deceleration, and sharp turns that may cause motion sickness. The specific position of the operation behavior in the driving trajectory is recorded to facilitate the driver to review and analyze it afterwards to understand which road sections and operation behaviors are more likely to cause discomfort to passengers. This marking function helps the driver improve operations in future driving and reduce the impact of motion sickness on passengers. Through the cooperation of these modules, the vehicle can provide the driver with dual support of real-time monitoring and subsequent analysis, which helps to improve the overall driving stability and passenger comfort, thereby providing effective data support and guidance for the optimization of driving experience and riding experience.

[0108] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An anti-motion sickness system, characterized in that: include: The data acquisition module is used to collect the dynamic parameters of the vehicle, including the longitudinal acceleration ∈ and the lateral acceleration θ; The instantaneous motion sickness index calculation module is only used to calculate the instantaneous motion sickness index φ1 according to the longitudinal acceleration and lateral acceleration of the vehicle; The motion sickness index evaluation module is used to determine whether to trigger discomfort prompts based on the threshold of the instantaneous motion sickness index; The road segment marking module is used to mark the locations where the instantaneous motion sickness index exceeds the threshold in real time on the vehicle's driving trajectory, so as to mark sharp turns, sudden acceleration, sudden deceleration and traffic jams.

2. The anti-motion sickness system according to claim 1, characterized in that: The instantaneous motion sickness index φ1 is calculated as follows: Among them, a and b are weighting coefficients, a max (v) is the maximum weighted acceleration of the vehicle, which is defined as:

3. The anti-motion sickness system according to claim 1, characterized in that: The sharp turn is determined based on the lateral acceleration θ, and when it exceeds a certain threshold, it is determined that a sharp left turn or a sharp right turn occurs; The rapid acceleration and rapid deceleration can be determined as rapid acceleration or rapid deceleration when the longitudinal acceleration ∈ exceeds or falls below a certain positive threshold.

4. The anti-motion sickness system according to claim 3, characterized in that: The specific steps for determining the occurrence of a sharp left turn and a sharp right turn are as follows: a. Obtain the lateral acceleration θ of the vehicle in real time; b. If θ is greater than the preset threshold θ for a sharp left turn, it is considered that a sharp left turn has occurred; c. Mark the road section as a sharp left turn area and record it in combination with the instantaneous motion sickness index φ1; d. If θ is greater than the preset threshold θ for a sharp right turn, it is considered that a sharp right turn has occurred; e. Mark the road section as a sharp right turn area and record it in combination with the instantaneous motion sickness index φ1; The specific steps for determining sudden acceleration or deceleration are as follows: a. Obtain the longitudinal acceleration∈ of the vehicle in real time; b. If ∈ exceeds the threshold value ∈ of rapid acceleration, rapid acceleration is considered to have occurred; c. Mark the road section as a rapid acceleration area and record it in combination with the instantaneous motion sickness index φ1; d. If ∈ exceeds the threshold value ∈ of sudden deceleration, it is considered that sudden deceleration has occurred; e. Mark the road section as a rapid deceleration area and record it in combination with the instantaneous motion sickness index φ1.

5. The anti-motion sickness system according to claim 1, characterized in that: The traffic jam is determined based on vehicle speed and time, and the specific determination conditions are as follows: v <v low and Among them, v low is the low speed threshold, is the speed change rate per unit time, γ is the threshold value of vehicle stopping or slowing down, and the specific determination steps are as follows: a. Get the speed v of the vehicle in real time; b. Determine whether the vehicle's speed remains within the low speed range for a long time; c. Combined with the speed change rate, if the vehicle starts and stops frequently, it will be marked as a traffic jam; d. Mark the discomfort in the traffic jam section and record it in combination with the instantaneous motion sickness index φ1.

6. The anti-motion sickness system according to claim 3, characterized in that: The threshold is determined by experimental data and analysis of driver operation behavior, specifically including: a. Collect the longitudinal acceleration and lateral acceleration data of the vehicle under different driving conditions; b. Combine passengers’ subjective motion sickness feedback to determine the instantaneous motion sickness index threshold that causes discomfort in the case of rapid acceleration, rapid deceleration, and sharp turns; The threshold value may be dynamically adjusted according to different passenger types and different vehicle types to optimize the prediction of passenger discomfort.

7. The anti-motion sickness system according to claim 1, characterized in that: It also includes a comprehensive motion sickness index calculation module, which is used to calculate an average or comprehensive motion sickness index φ2 based on the instantaneous motion sickness index φ1 within a set time period. The calculation formula of the comprehensive motion sickness index φ2 is: Among them, t1 and t2 are the set start and end times respectively, f(φ1) is a weight function related to the instantaneous motion sickness index. When φ is larger, a larger weight coefficient can be taken to reflect the driver's comprehensive driving situation.

8. The anti-motion sickness system according to claim 7, characterized in that: The weight function f(φ1) in the comprehensive motion sickness index calculation module is dynamically adjusted in combination with the real-time speed v of the vehicle and the type of road traveled, specifically including: a. In different scenarios of highways, urban roads and rural roads, different weight coefficients are set according to the road type; b. When driving at high speed, increase the weight coefficient to more strongly reflect the discomfort of passengers caused by sudden acceleration and sharp turns; c. When driving at low speed, reduce the weight coefficient to reduce the impact of slight operations on the instantaneous motion sickness index; d. The weight coefficient is adjusted based on preset rules for road types and can also change dynamically in combination with real-time navigation data.

9. The anti-motion sickness system according to claim 1, characterized in that: The data acquisition module is further used to obtain the map information and real-time coordinates of the vehicle, and to determine the road section and operating behavior corresponding to the discomfort behavior in combination with the operating behavior of the vehicle driving section marked by the road section marking module and the instantaneous motion sickness index φ1.

10. A vehicle, characterized in that: The vehicle includes the anti-motion sickness system according to claims 1-9, and the vehicle collects dynamic parameters in real time, calculates the instantaneous motion sickness index, and marks the road sections corresponding to the uncomfortable behaviors through the anti-motion sickness system.

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