Anti-carsickness control system and anti-carsickness control method

Abstract

The invention discloses an anti-carsickness control system which comprises a central controller, a pre-diagnosis module, a diagnosis module and a driving module. The pre-diagnosis module is used for predicting the acceleration of a person in the vehicle at the next moment and transmitting a prediction result to the central controller; the diagnosis module is used for monitoring the pressure of each part of the seat and feeding back pressure information to the central controller; the driving module is used for controlling the relative displacement between each part of the seat and the floor in the vehicle; and the central controller adjusts the seat according to the feedback of the pre-diagnosis module and performs fine adjustment and improvement on the seat according to the feedback of the diagnosis module so as to keep the acceleration of a passenger in each direction of the seat unchanged. The invention further discloses a carsickness prevention control method. According to the invention, pre-diagnosis in different dimensions is realized, and the precision and response time of the anti-carsickness control system are improved.

Description

Technical Field

[0001] The present invention relates to a control system based on an anti-motion sickness solution, and in particular to an anti-motion sickness seat system in the field of vehicle cockpits. Background Art

[0002] Most vehicles currently do not have anti-motion sickness functions. Even some high-end models only have a shock absorption system based on the chassis suspension and seat structure, that is, mechanical passive shock absorption is used to achieve comfort. The defects of the traditional shock absorption system are as follows: 1. Although it can reduce shock, it is difficult to achieve a good anti-motion sickness effect; 2. If the shock absorption performance is further improved, it will have a greater impact on the cost. Forvia has rich experience in car seats, but has not yet integrated the anti-motion sickness function into the seats. With the rapid development of autonomous driving technology, a comfortable cockpit has gradually become a standard feature. Summary of the invention

[0003] In order to overcome the above technical defects, the purpose of the present invention is to provide an anti-motion sickness control system, including: a central controller, a pre-diagnosis module, a diagnosis module and a drive module; the pre-diagnosis module is used to predict the acceleration of the occupants at the next moment, and transmit the prediction result to the central controller; the diagnosis module is used to detect the pressure of various parts of the seat, and transmit the detected pressure information to the central controller; the drive module is used to control the relative displacement of various parts of the seat and the floor inside the vehicle; the central controller adjusts the seat according to the feedback of the pre-diagnosis module, and fine-tunes and improves the seat according to the feedback of the diagnosis module, so as to keep the acceleration of the passengers in all directions of the seat unchanged.

[0004] Furthermore, the pre-diagnosis module includes: an information collection module and an information processing and prediction module; the information collection module is used to obtain the road information on which the vehicle is located and / or the terrain information predicted by the vehicle's navigation system; the information processing and prediction module is used to predict the acceleration state of the passengers in the vehicle at the next moment based on the data collected by the information collection module.

[0005] Furthermore, the information acquisition module includes one or more of the following devices: a camera for monitoring road conditions; a pressure sensor for detecting tire pressure; an acceleration sensor for monitoring the acceleration of the vehicle suspension and seat; and a navigation system for sending and receiving terrain information.

[0006] Furthermore, the driving module includes: a motor driver for executing control logic instructions of the central controller; a motor and an actuator for controlling the combined force of the seat on the human body according to the control of the motor driver.

[0007] The present invention also discloses a control method for preventing motion sickness, which specifically comprises the following steps:

[0008] When the vehicle is stationary, the best sitting posture of the passenger is collected, and the pressure values ​​of various parts of the seat under the best sitting posture are recorded through the pressure sensor and set as the initial value;

[0009] When the vehicle is driving, the road surface information and the vehicle body information are collected, and the bumping direction and acceleration of the passengers in the vehicle are predicted based on the collected road surface information and vehicle body information;

[0010] The displacement and acceleration of the seat support rod are controlled according to the prediction results.

[0011] Furthermore, the acquisition of the optimal sitting posture of the passenger also includes: automatically adjusting the optimal sitting posture according to data of various pressure sensors of the seat in combination with ergonomics; and manual setting by the passenger.

[0012] Furthermore, the collecting of road surface information and vehicle body information also includes:

[0013] The road surface information is collected by a camera and / or a pressure sensor placed on the vehicle body and / or a navigation system, and the road surface information represents the undulation of the road surface; the vehicle body information is collected by an acceleration sensor, and the vehicle body information represents the acceleration of the vehicle suspension and seat when the vehicle is moving.

[0014] Furthermore, predicting the bumping direction and acceleration of the passengers in the car based on the collected road surface information and vehicle body information also includes: predicting the bumping direction and acceleration of the passengers through machine learning.

[0015] Furthermore, controlling the displacement and acceleration of the seat support rod according to the prediction results also includes: the central controller corrects the passenger bump direction and acceleration predicted by machine learning based on information detected by each pressure sensor of the seat, and controls the drive module to adjust the seat.

[0016] Further, controlling the displacement and acceleration of the seat support rod according to the prediction result also includes:

[0017] When the pre-diagnosis module predicts that the vehicle will pass through a concave road surface, the central controller controls the drive module to control the seat support rod to lengthen so that the combined force of the pressure of each sensor of the seat is equal to the gravity of the passenger and opposite in direction;

[0018] When the pre-diagnosis module predicts that the vehicle will pass through a convex road surface, the central controller controls the drive module to shorten the seat support rod so that the combined force of the seat's various sensor pressures is equal in magnitude to the passenger's gravity and opposite in direction.

[0019] Compared with the prior art, the above technical solution has the following beneficial effects:

[0020] 1. Use the pre-diagnosis module and the diagnosis module at the same time. Although the pre-diagnosis can predict in advance and give the drive system enough reaction time, the prediction accuracy is not high. Although the diagnosis module has high accuracy, the reaction time reserved for the drive system is very short. Therefore, the two complement each other, learn from each other's strengths and weaknesses, and improve the accuracy and reaction time of the system at the same time.

[0021] 2. The present invention performs pre-diagnosis in different dimensions. This is mainly because the accuracy of pre-diagnosis is difficult to maintain under all road conditions, so pre-diagnosis in different dimensions can improve its accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of an embodiment of an anti-motion sickness control system of the present invention;

[0023] Figure 2 It is a schematic diagram of the specific configuration of the anti-motion sickness control system of the present invention;

[0024] Figure 3 A schematic diagram of the pressure values ​​of various parts of a passenger when in the best sitting position;

[0025] Figure 4 This is a schematic diagram of the combined force on passengers when the road is bumpy;

[0026] Figure 5 It is a schematic diagram of a control method of the anti-motion sickness control system of the present invention on different road surfaces; DETAILED DESCRIPTION

[0027] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0029] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "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 present invention.

[0032] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0033] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0034] See also Figure 1 It is a schematic diagram of a specific embodiment of the anti-motion sickness control system of the present invention, comprising: a central controller, a pre-diagnosis module, a diagnosis module and a drive module.

[0035] The pre-diagnosis module is used to predict the acceleration of the occupants at the next moment and transmit the prediction result to the central controller.

[0036] The diagnostic module is used to monitor the pressure of various parts of the seat in real time and feed back real-time pressure information to the central controller.

[0037] The driving module is used to control the relative displacement between various parts of the seat and the floor inside the vehicle in real time.

[0038] The central controller adjusts the seat in advance according to the feedback from the pre-diagnosis module to cope with the sudden change of human body acceleration at the next moment; according to the feedback from the diagnosis module, the seat is fine-tuned and improved in real time to make the sudden change of human body acceleration smaller.

[0039] Furthermore, the pre-diagnosis module includes: an information collection module and an information processing prediction module.

[0040] See also Figure 2 The information collection module includes: a camera for real-time monitoring of road conditions. In a specific embodiment, cameras can be set on the license plate and the rearview mirrors on both sides to detect road information in real time; pressure sensors are set on four tires to detect the tire pressure of the four tires and provide road information in real time; acceleration sensors are set at the suspension and seat fixing brackets to monitor the acceleration of the suspension and seat in real time; navigation system sends and receives information in real time, including high-precision map system, V2X, RCS road condition sensor, etc.

[0041] The information processing module is used to process various data collected by the information collection module, and process the data based on a machine algorithm to predict the acceleration state of the passengers in the car at the next moment.

[0042] Furthermore, the diagnostic module also includes pressure sensors at various parts of the seat, which are used to detect the pressure at various parts of the seat and feed back real-time pressure information. In a specific embodiment, more than three sensors can be set on the seat surface, more than 6 sensors can be set on the backrest surface of the seat, and more than 2 sensors can be set on the pillow surface of the seat. The present invention does not impose specific restrictions on this.

[0043] Furthermore, the driving module includes: a motor driver for executing control logic instructions of the central controller; a motor and an actuator for controlling the combined force of the seat on the human body in real time according to the control of the motor driver.

[0044] The present invention also provides a control method for preventing motion sickness, which specifically comprises the following steps:

[0045] S1, set the best sitting position for passengers.

[0046] When the vehicle is stationary, adjust the optimal sitting posture of the passengers, and then use the pressure sensor to record the pressure values ​​of various parts in the optimal sitting posture and set them as initial values.

[0047] Furthermore, there are two ways to set the initial value: 1. Default setting, the passenger is fully relaxed, the seat is combined with ergonomic recommendations, and then the seat adjusts the passenger's sitting posture according to the data fed back by each pressure sensor, see Figure 3, which is a schematic diagram of the pressure values ​​of various parts of the passenger in the best sitting posture, where, for example, 10-40% means that 10 represents the pressure value and 40% represents the percentage of pressure to human body weight. 2. Passenger self-setting: The passenger manually sets the seat to adjust the sitting posture.

[0048] S2, predicts the direction and acceleration of the bumps in the car during driving.

[0049] Pre-diagnosis can trigger the drive system in advance and perform pre-action. Specifically include:

[0050] S21, obtaining road information on which the vehicle is located and / or terrain information predicted by the vehicle's navigation system.

[0051] Specifically, through high-precision map signals, V2X signals, RCS road condition sensors, etc., information is sent and received in real time to detect bumpy sections in advance.

[0052] The camera captures images of the road surface and analyzes the images to obtain information about whether the road surface is flat, such as ups and downs, potholes, etc. The bumpy road surface is detected in advance, and the bumpy state of the passenger in the next moment is roughly predicted.

[0053] The real-time tire pressure data of the four wheels can detect the combined force of the entire vehicle in advance, and further predict the bumpy state of the passengers in the next moment. This data can be used as an auxiliary for the acceleration vector pre-diagnosis of bumps in the car. Since the combined force of the entire vehicle is composed of the four wheels and its own gravity, the acceleration of the car can be detected by the four tire pressures.

[0054] Acceleration sensors are placed at the suspension and seat fixing brackets to monitor the acceleration of the suspension and seat in real time. The combined force on the seat is detected in advance, and the bumpy state of the passenger in the next moment is accurately predicted; because there are also some shock-absorbing devices in the car, tire pressure detection is difficult to accurately predict the acceleration state of the passenger in the next moment, and the acceleration sensor here can be used to correct the prediction result.

[0055] S22 uses machine learning to predict the direction and acceleration of the passenger's bumps, preparing for the next step of adjusting the seat.

[0056] Furthermore, the machine learning prediction includes the following steps:

[0057] S221, data collection;

[0058] Real-time data of different road surfaces (road surface data and pressure data) are obtained, and at the same time, the real-time data of each pressure sensor of the seat is detected according to the pressure sensor of the seat.

[0059] S222, data cleaning;

[0060] Clean the abnormal and invalid data in the road information data and seat pressure sensor data.

[0061] S223, relationship fitting;

[0062] The relationship between the data set is fitted through the road data and the seat pressure sensor data.

[0063] S224, Pre-diagnosis

[0064] According to the relationship of the fitted data set, the current data set is input to predict the data set of the next stage.

[0065] S3, reduces the jolting acceleration of passengers in seats and prevents them from getting motion sickness.

[0066] Specifically, the real-time information of each pressure sensor of the seat is detected, and the central controller controls the driving module to control the motor of the seat to perform timely correction and adjustment.

[0067] The drive module controls the motors in the three axes of the seat to provide a certain amount of acceleration and displacement to neutralize the acceleration and displacement caused by roadside bumps, thereby reducing the bumpy feeling of the person.

[0068] The reasons why passengers feel motion sickness during driving are as follows:

[0069] 1. Inside the car, it is difficult for passengers to detect road bumps through vision.

[0070] 2. Passengers' vestibular organs can feel the bumps.

[0071] 3. After the visual signals and vestibular signals reach the brain, the inconsistency of the signals causes the brain to enter a specific protection mechanism, which results in dizziness and vomiting.

[0072] The anti-motion sickness control system of the present invention is based on the principle of classical mechanics, as shown in the following formula.

[0073] mg→+(F_1)→+(F_2)→+(F_3)→+(F_4)→=0N

[0074] mg represents the weight of the passenger.

[0075] See Figure 4This is a schematic diagram of the forces on passengers on bumpy roads. F1, F2, and F3 represent the forces acting on each part of the seat in the current state. Only three components are listed here. In fact, in order to achieve refined control, more pressure sensors can be installed on the seat. F4 represents the force applied by each motor to control the force applied by the passenger, with the goal of making the passenger's combined force zero. When the combined force received by the passenger is 0 (the sum of the combined force applied by the seat and the body's weight), the acceleration sensor of the human vestibular organ will not be triggered, that is, no dizziness will occur, thereby achieving the purpose of preventing motion sickness.

[0076] According to the kinetic formula:

[0077] s→=1 / 2a→t^2a→m=(F_4)→

[0078] s represents the displacement of the support rod controlled by each motor; a represents the acceleration of the support rod controlled by each motor

[0079] Adjust the seat to achieve the best target state. At this time, the resultant force received by the human body is infinitely close to the target value, that is, the resultant force of the passengers is zero.

[0080] It can be understood that whether the seat is triggered for adjustment is mainly determined by two factors:

[0081] (1) The pre-diagnosis module detects real-time road information and uses machine learning to pre-diagnose the acceleration occurring in the vehicle, allowing the central controller to control the motor to respond in advance.

[0082] (2) Detect the real-time information of each pressure sensor of the seat and control the motor through the central controller to make timely corrections and adjustments.

[0083] Specifically, Figure 5 As shown, including the following situations:

[0084] I. When the road surface is smooth.

[0085] At this time, the combined force of the seat on the passenger is opposite to the direction of the passenger's gravity and equal in magnitude, so the passenger will not feel bumpy and no action is required.

[0086] II. When a concave or convex surface is encountered, the various functional components of the system will be activated in the following order. The specific process is as follows:

[0087] 1. The camera detects uneven road surface.

[0088] 2. Then the tire pressure sensors of the four wheels will be affected by the pressure changes first.

[0089] 3. As tire pressure and tire shape change, pressure will be transmitted to the suspension system, and the acceleration sensor of the suspension system will produce signal changes.

[0090] 4. After the pressure is transmitted to the suspension, the suspension will further transmit the pressure to the seat. However, since the suspension system also has a certain pressure buffer design, the pressure transmission will change (there will be changes in buffer time and buffer pressure).

[0091] 5.Finally, the acceleration of the seat is detected.

[0092] It can be understood that the first four items are used for pre-diagnosis, which predicts the acceleration of the seat at the next moment through the data of visual sensors, tire pressure sensors and suspension sensors, so that the system has enough time to make corresponding adjustments. The last item is real-time diagnosis.

[0093] It can be understood that although real-time diagnosis is accurate, it does not give the system enough time to react. Although the accuracy of pre-diagnosis is relatively low, it gives the system enough time to react. They work together to minimize the acceleration of the seat.

[0094] The specific measures for adjusting the seat are:

[0095] According to the diagnosis of the pre-diagnosis module, when the vehicle suddenly encounters a concave road surface, the vehicle will lose weight and the seat will not be able to give the passenger enough upward force, and the passenger will face a state of weightlessness. The central controller controls the seat support rod to lengthen accordingly through the motor, thereby giving the passenger an upward force, so that the passenger's force is zero.

[0096] According to the diagnosis of the pre-diagnosis module, when the vehicle suddenly encounters a concave road surface, the vehicle will be overweight and the seat will not be able to provide sufficient upward force to the passenger, and the passenger will face an overweight state. The central controller controls the seat support rod to shorten accordingly through the motor, thereby reducing the upward force on the passenger and making the passenger's force zero.

[0097] The zero resultant force refers to whether the resultant force of the pressures of the various sensors on the seat is equal in magnitude and opposite in direction to the weight of the human body. When the resultant force received by the passenger is 0 (the sum of the resultant force applied by the seat and the weight of the human body), the acceleration sensor of the human vestibular organ will not be triggered, that is, no dizziness will occur, thereby achieving the purpose of preventing motion sickness.

[0098] Compared with the prior art, the present invention has the following advantages:

[0099] 1. Using the pre-diagnosis module and the diagnosis module at the same time, although the pre-diagnosis can predict in advance and give the real-time drive system enough reaction time, the prediction accuracy is not high. Although the diagnosis module has high accuracy, the reaction time reserved for the real-time drive system is very short. Therefore, the two complement each other, learn from each other's strengths and weaknesses, and improve the accuracy and reaction time of the system at the same time.

[0100] 2. The present invention performs pre-diagnosis in different dimensions. This is mainly because the accuracy of pre-diagnosis is difficult to maintain under all road conditions, so pre-diagnosis in different dimensions can improve its accuracy. See the table below for details:

[0101]

[0102] 3. The present invention combines ergonomics and personal preferences of passengers to formulate a comfortable sitting posture for passengers.

[0103] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An anti-motion sickness control system, characterized in that: include: Central controller, pre-diagnosis module, diagnosis module and drive module; The pre-diagnosis module is used to predict the acceleration of the occupants at the next moment and transmit the prediction result to the central controller; the diagnosis module is used to detect the pressure of various parts of the seat and transmit the detected pressure information to the central controller; the drive module is used to control the relative displacement of various parts of the seat and the floor of the vehicle; the central controller adjusts the seat according to the feedback from the pre-diagnosis module, and fine-tunes and improves the seat according to the feedback from the diagnosis module to keep the acceleration of the passengers in all directions of the seat unchanged.

2. The system according to claim 1, characterized in that The pre-diagnosis module includes: an information collection module and an information processing and prediction module; the information collection module is used to obtain the road information on which the vehicle is located and / or the terrain information predicted by the vehicle's navigation system; the information processing and prediction module is used to predict the acceleration state of the passengers in the vehicle at the next moment based on the data collected by the information collection module.

3. The system according to claim 2, characterized in that The information acquisition module includes one or more of the following devices: a camera for monitoring road conditions; a pressure sensor for detecting tire pressure; an acceleration sensor for monitoring the acceleration of the vehicle suspension and seat; and a navigation system for sending and receiving terrain information.

4. The system according to claim 1, characterized in that The driving module includes: a motor driver for executing the control logic instructions of the central controller; a motor and an actuator for controlling the combined force of the seat on the human body according to the control of the motor driver.

5. A motion sickness prevention control method, applied to the motion sickness prevention control system according to claims 1-4, characterized in that: The following steps are involved: When the vehicle is stationary, the best sitting posture of the passenger is collected, and the pressure values ​​of various parts of the seat under the best sitting posture are recorded through the pressure sensor and set as the initial value; When the vehicle is driving, the road surface information and the vehicle body information are collected, and the bumping direction and acceleration of the passengers in the vehicle are predicted based on the collected road surface information and vehicle body information; The displacement and acceleration of the seat support rod are controlled according to the prediction results.

6. The control method according to claim 5, characterized in that: The collecting of the best sitting posture of the passenger also includes: automatically adjusting the best sitting posture according to the data of each pressure sensor of the seat in combination with ergonomics; and manual setting by the passenger.

7. The control method according to claim 5, characterized in that: The collecting of road surface information and vehicle body information also includes: collecting the road surface information, the road surface information is collected by a camera and / or a pressure sensor placed on the vehicle body and / or a navigation system, and the road surface information represents the undulation of the road surface; collecting the vehicle body information, the vehicle body information is collected by an acceleration sensor, and the vehicle body information represents the acceleration of the vehicle suspension and seat when the vehicle moves.

8. The control method according to claim 5, characterized in that: Predicting the bumping direction and acceleration of passengers in the car based on the collected road surface information and vehicle body information also includes: predicting the bumping direction and acceleration of passengers through machine learning.

9. The control method according to claim 5, characterized in that: Controlling the displacement and acceleration of the seat support rod according to the prediction results also includes: the central controller corrects the passenger bump direction and acceleration predicted by machine learning based on the information detected by each pressure sensor of the seat, and controls the drive module to adjust the seat.

10. The control method according to claim 5, characterized in that: Controlling the displacement and acceleration of the seat support rod according to the prediction results also includes: When the pre-diagnosis module predicts that the vehicle will pass through a concave road surface, the central controller controls the drive module to control the seat support rod to lengthen so that the combined force of the pressure of each sensor of the seat is equal to the gravity of the passenger and opposite in direction; When the pre-diagnosis module predicts that the vehicle will pass over a convex road surface, the central controller controls the drive module to shorten the seat support rod so that the combined force of the seat's various sensor pressures is equal in magnitude to the passenger's gravity and opposite in direction.

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