Vehicle motion state prediction and carsickness prevention prompting method and system

Abstract

The invention belongs to the technical field of automobile motion control, and particularly relates to a vehicle motion state prediction and anti-carsickness prompting method and system.The vehicle motion state prediction method comprises the steps that vehicle torque and vehicle running parameters are obtained, and predicted longitudinal acceleration is obtained based on the vehicle torque and the vehicle running parameters; a predicted yaw velocity is obtained based on the vehicle speed and the front and rear wheel rotation angles; a predicted lateral acceleration is obtained based on the predicted yaw velocity and the vehicle speed. The abstract vehicle comprehensive motion state parameter is converted into a vivid screen display effect based on the vehicle dynamics model, the conflict between the vestibule of the passenger and visual perception is relieved, the technical effect of relieving carsickness of the user is achieved, and meanwhile the user experience is improved. The technical problem that time delay exists in a vehicle motion state display scheme in a traditional scheme is also solved based on the correlation model of the prediction parameters.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive motion control, and particularly relates to a method and system for predicting vehicle motion state and preventing motion sickness. Background Art

[0002] The vestibule of the inner ear is the main sensory organ of the human body balance system, followed by vision and proprioceptors. As long as the impulses transmitted to the central nervous system by any one of the three receptors are not coordinated with the impulses transmitted by the other two receptors, dizziness will occur. When a passenger watches a video while sitting in a moving car, the inconsistency between the vehicle motion sensed by the vestibule and the static screen seen by the eyes will cause motion sickness.

[0003] In the prior art, collecting the real-time motion parameters of a vehicle through a vehicle Inertial Measurement Unit (IMU) sensor is essentially the parameters of the motion that the vehicle has already undergone. There will be a lag when displaying them on the relevant display screen of the vehicle, and it cannot well prompt the vehicle motion state in advance, nor can it achieve the purpose of alleviating the motion sickness of passengers. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method and system for predicting vehicle motion state and preventing motion sickness. Based on the vehicle dynamics model, the abstract vehicle comprehensive motion state parameters are converted into vivid screen display effects, alleviating the conflict between the passenger's vestibule and visual perception, thereby achieving the technical effect of alleviating the user's motion sickness. At the same time, the related model based on the prediction parameters of the present invention also solves the technical problem of time delay existing in the vehicle motion state display scheme in the traditional solution.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions.

[0006] The first aspect of the present invention provides a method for predicting vehicle motion state, including: Obtaining and obtaining the predicted longitudinal acceleration based on the vehicle torque and vehicle driving parameters; Obtaining and obtaining the predicted yaw rate based on the vehicle speed in the longitudinal direction and the front and rear wheel angles; Obtaining the predicted lateral acceleration based on the predicted yaw rate and vehicle speed.

[0007] As an optional implementation manner, the vehicle driving parameters at least include vehicle rolling resistance, vehicle air resistance, road slope angle, vehicle mass, and wheel rolling radius; The predicted longitudinal acceleration is obtained based on the vehicle torque and vehicle driving parameters through the following formula: Among them, the predicted longitudinal acceleration is represented by a x The vehicle mass is represented by m, the vehicle torque is represented by Tq, the wheel rolling radius is represented by R, and the vehicle air resistance is represented by F d The vehicle rolling resistance is represented by F f And the road slope angle is represented by θ.

[0008] As an alternative implementation, obtaining the vehicle torque includes: Obtaining and obtaining the driving demand torque based on the throttle pedal opening and the vehicle speed; Obtaining and obtaining the braking torque based on the hydraulic braking torque and the motor energy recovery torque; Obtaining the vehicle torque based on the driving demand torque and the braking torque.

[0009] As an alternative implementation, the obtaining and obtaining the braking torque based on the hydraulic braking torque and the motor energy recovery torque includes: Obtaining and converting the brake master cylinder pressure into the corresponding hydraulic braking torque; Adding the hydraulic braking torque and the motor energy recovery torque to obtain the braking torque.

[0010] As an alternative implementation, obtaining and obtaining the predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction includes: Obtaining the predicted yaw rate based on the vehicle speed, the front wheel angle, and the rear wheel angle in the longitudinal direction through the following formula: Among them, the predicted yaw rate is represented by w_des, the vehicle speed in the longitudinal direction is represented by v x The front wheel angle is represented by δ F The rear wheel angle is represented by δ R . In addition, L is the wheelbase (L = a + b, where a is the distance from the center of mass to the front axle and b is the distance from the center of mass to the rear axle), and K is the stability coefficient, and its expression is Among them, C f , C r Are the cornering stiffnesses of the front and rear wheels respectively, and m is the vehicle mass.

[0011] As an alternative implementation, the predicted lateral acceleration is obtained based on the predicted yaw rate and the vehicle speed through the following formula: a y = w_des·v, where v is the vehicle speed.

[0012] The second aspect of the present invention provides a motion sickness prevention reminder method based on the vehicle motion state prediction method described in the first aspect of the present invention, including: Display the acceleration and deceleration dynamic effects during the longitudinal movement of the vehicle based on the predicted longitudinal acceleration; and / or Display the rotational movement dynamic effects during the turning of the vehicle based on the predicted yaw angular velocity; and / or Display the lateral centrifugal force dynamic effects during the lateral movement of the vehicle based on the predicted lateral acceleration.

[0013] As an alternative implementation, the display of the acceleration and deceleration dynamic effects during the longitudinal movement of the vehicle based on the predicted longitudinal acceleration includes:[[]] When the predicted longitudinal acceleration is positive, it indicates that the vehicle is accelerating, and a backward dynamic effect is displayed on the vehicle's screen display unit; When the predicted longitudinal acceleration is negative, it indicates that the vehicle is decelerating, and a forward dynamic effect is displayed on the vehicle's screen display unit.

[0014] As an alternative implementation, the display of the rotational movement dynamic effects during the turning of the vehicle based on the predicted yaw angular velocity includes:[[]] When the predicted yaw angular velocity is positive, it indicates that the vehicle is turning left, and a clockwise dynamic effect is displayed on the vehicle's screen display unit; when the predicted yaw angular velocity is negative, it indicates that the vehicle is turning right, and a counterclockwise dynamic effect is displayed on the vehicle's screen display unit.

[0015] As an alternative implementation, the display of the lateral centrifugal force dynamic effects during the lateral movement of the vehicle based on the predicted lateral acceleration includes:[[]] When the predicted lateral acceleration is positive, it indicates that the vehicle is turning left, and a rightward dynamic effect is displayed on the vehicle's screen display unit; When the predicted lateral acceleration is negative, it indicates that the vehicle is turning right, and a leftward dynamic effect is displayed on the vehicle's screen display unit.

[0016] The third aspect of the present invention provides a vehicle motion state prediction system, including:[[]] A first acquisition unit, at least used to acquire and obtain the predicted longitudinal acceleration based on the vehicle torque and vehicle driving parameters; A second acquisition unit, at least used to acquire and obtain the predicted yaw angular velocity based on the vehicle speed and the front and rear wheel angles in the longitudinal direction; A third acquisition unit, at least used to acquire the predicted lateral acceleration based on the predicted yaw angular velocity and vehicle speed.

[0017] The fourth aspect of the present invention provides a motion sickness prevention reminder system, including:[[]] A first dynamic effect unit, including a first acquisition unit and a first display unit, where:[[]] The first acquisition unit is at least used to acquire and obtain the predicted longitudinal acceleration based on the vehicle torque and vehicle driving parameters; The first display unit displays the acceleration and deceleration dynamic effects during the longitudinal movement of the vehicle based on the predicted longitudinal acceleration; The second dynamic effect unit includes a second acquisition unit and a second display unit, where: The second acquisition unit is at least used to acquire and obtain the predicted yaw angular velocity based on the vehicle speed and the front and rear wheel angles in the longitudinal direction; The second display unit is at least used to display the rotational movement dynamic effect during the vehicle turning based on the predicted yaw angular velocity; The third dynamic effect unit includes a third acquisition unit and a third display unit, where: The third acquisition unit is at least used to acquire the predicted lateral acceleration based on the predicted yaw angular velocity and the vehicle speed; The third display unit is at least used to display the lateral centrifugal force dynamic effect during the lateral movement of the vehicle based on the predicted lateral acceleration.

[0018] A fifth aspect of the present invention provides an electronic device, including: At least one processor; and at least one memory communicatively connected to the processor, where: the memory stores program instructions executable by the processor, and the processor can execute the steps of the method described in the first aspect or the second aspect of the present invention by invoking the program instructions.

[0019] A sixth aspect of the present invention provides a readable storage medium storing a computer program, and the computer program is executed by a processor to perform the steps of the method described in the first aspect or the second aspect of the present invention.

[0020] In summary, compared with the prior art, the present invention has at least the following technical effects: 1. By acquiring the vehicle motion state parameters (predicted longitudinal acceleration, predicted yaw angular velocity, predicted lateral acceleration), the present invention converts the predicted motion characteristics into screen display, which can achieve the unity of the actual vehicle motion and the passenger's sensory motion. Different from the lagging real-time parameters collected by the IMU sensor, it can predict in advance the states such as vehicle acceleration, deceleration, and turning, provide forward-looking motion sickness prompts for passengers, and improve the user's riding experience; 2. Based on the vehicle dynamics model, the present invention decomposes the comprehensive state of the vehicle motion into the longitudinal acceleration, lateral acceleration, and yaw angular velocity of the vehicle, and reflects them on the screen through animation effects, effectively alleviating the problem of passengers' motion sickness. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic flowchart of a vehicle motion state prediction method according to a specific embodiment of the present invention.

[0023] Figure 2 It is a schematic flowchart of a motion sickness prevention prompt method according to a specific embodiment of the present invention.

[0024] Figure 3 It is a schematic flowchart of another motion sickness prevention prompt method according to a specific embodiment of the present invention.

[0025] Figure 4 It is a block diagram of a vehicle motion state prediction system according to a specific embodiment of the present invention.

[0026] Figure 5 It is a screen display diagram of a motion sickness prevention activity area according to a specific embodiment of the present invention.

[0027] Figure 6 It is a block diagram of a motion sickness prevention prompt system according to a specific embodiment of the present invention.

[0028] Figure 7 It is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed Embodiments

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0030] It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. And in the following embodiments, each embodiment has its own emphasis. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0031] Such as Figure 1As shown, in the first aspect of the present invention, a vehicle motion state prediction method is provided. In this prediction method, for example, a Vehicle Model Controller (VMC) can be used as a calculation medium.

[0032] The VMC can receive vehicle-related input data and, based on built-in physical models, kinematic relationships, or mathematical algorithms, model and deduce the vehicle motion state to calculate the predicted longitudinal acceleration, predicted lateral acceleration, and predicted yaw rate, mainly including the following steps.

[0033] Step S100: Obtain and calculate the predicted longitudinal acceleration based on the vehicle torque and vehicle driving parameters.

[0034] Specifically, the predicted longitudinal acceleration refers to the degree of change in the vehicle's speed in the driving direction (the direction from the front of the vehicle to the rear of the vehicle). The vehicle driving parameters at least include vehicle rolling resistance, vehicle air resistance, road slope angle, vehicle mass, wheel rolling radius, and vehicle driving coefficient.

[0035] Step S200: Obtain and calculate the predicted yaw rate based on the vehicle speed in the longitudinal direction and the front and rear wheel angles.

[0036] Specifically, the predicted yaw rate refers to the angular velocity of the vehicle rotating around an axis perpendicular to the ground (passing through the vehicle's center of mass), which reflects the speed of the vehicle's turning. The front and rear wheel angles specifically include the front wheel angle and the rear wheel angle.

[0037] Step S300: Obtain the predicted lateral acceleration based on the predicted yaw rate and vehicle speed.

[0038] Specifically, the predicted lateral acceleration refers to the acceleration of the vehicle in the direction perpendicular to the driving direction (left and right direction).

[0039] Here, by obtaining the vehicle motion state parameters (predicted longitudinal acceleration, predicted yaw rate, predicted lateral acceleration), which are different from the lagging real-time parameters collected by the IMU sensor, the vehicle's acceleration, deceleration, turning and other states can be predicted in advance, providing a forward-looking motion sickness reminder for passengers and improving the user's riding experience.

[0040] In an embodiment of the present invention, the predicted longitudinal acceleration is obtained based on the vehicle torque and vehicle driving parameters through a vehicle longitudinal dynamics model: Among them, the predicted longitudinal acceleration is represented by a x The vehicle mass is represented by m, the vehicle torque is represented by Tq, the wheel rolling radius is represented by R, the vehicle air resistance is represented by F d The vehicle rolling resistance is represented by Ff is represented, and the road slope angle is represented by θ; a positive predicted longitudinal acceleration represents a driving acceleration, and a negative predicted longitudinal acceleration represents a braking deceleration.

[0041] Furthermore, the vehicle air resistance F w can be obtained through the formula where ρ is the air density, v is the vehicle's combined motion speed (abbreviated as vehicle speed), C d is the vehicle's aerodynamic drag coefficient, and A is the vehicle's frontal projected area.

[0042] The vehicle rolling resistance F f can be expressed as F f = f·mg·cosθ, where f is the tire rolling resistance coefficient.

[0043] In an embodiment of the present invention, obtaining the vehicle torque includes: Obtaining and obtaining the driving demand torque based on the throttle pedal opening and vehicle speed; Obtaining and obtaining the braking torque based on the hydraulic braking torque and the motor energy recovery torque; Obtaining the vehicle torque based on the driving demand torque and the braking torque.

[0044] Specifically, the obtaining and obtaining the braking torque based on the hydraulic braking torque and the motor energy recovery torque includes: obtaining and converting the brake master cylinder pressure into the corresponding hydraulic braking torque; Adding the hydraulic braking torque and the motor energy recovery torque to obtain the braking torque.

[0045] Specifically, the conversion relationship between the brake master cylinder pressure and the hydraulic braking torque refers to Tq_Hyd = μ·P·S, where Tq_Hyd represents the hydraulic braking torque, μ represents the brake disc friction coefficient, P represents the master cylinder pressure, and S represents the brake disc friction contact area.

[0046] In an embodiment of the present invention, obtaining and obtaining the predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction includes: Based on the vehicle speed, the front wheel angle, and the rear wheel angle in the longitudinal direction of the vehicle, using a two-degree-of-freedom vehicle dynamics model to obtain the predicted yaw rate: where the predicted yaw rate is represented by w_des, the vehicle speed in the longitudinal direction is represented by v x is represented, the front wheel angle is represented by δ F is represented, the rear wheel angle is represented by δ R , L is the wheelbase (L = a + b, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle), K is the stability coefficient, and its expression is where Cf , C r are the cornering stiffnesses of the front and rear wheels respectively, and m is the vehicle mass.

[0047] In an embodiment of the present invention, the predicted lateral acceleration is obtained based on the predicted yaw rate and vehicle speed through the following formula: a y = w_des·v, where v is the combined motion speed of the vehicle (abbreviated as vehicle speed).

[0048] Here, through VMC as a calculation medium, input data such as vehicle torque, driving parameters, vehicle speed, vehicle speed in the longitudinal direction, and front and rear wheel angles are received to calculate the predicted longitudinal acceleration, predicted yaw rate, and predicted lateral acceleration. The present invention can predict vehicle motion states such as acceleration, deceleration, and turning in advance through vehicle motion state prediction parameters, provide forward-looking motion state prompts for passengers, effectively solve the problem of motion sickness caused by the lag of real-time parameter feedback, and at the same time provide lead data for the vehicle control system, improving the riding comfort and the accuracy and forward-looking of vehicle motion control.

[0049] Such as Figure 2 and Figure 3 shown, a motion sickness prevention prompting method based on the vehicle motion state prediction method according to any one of the above embodiments is provided in the second aspect of the present invention, including: Step S400: Displaying the acceleration and deceleration dynamic effects during the longitudinal motion of the vehicle based on the predicted longitudinal acceleration; and / or Step S500: Displaying the rotational motion dynamic effects during the turning of the vehicle based on the predicted yaw rate; and / or Step S600: Displaying the lateral centrifugal force dynamic effects during the lateral motion of the vehicle based on the predicted lateral acceleration.

[0050] Here, by sending the predicted vehicle motion state parameters to the screen display unit, the dynamic vehicle motion state is displayed, thereby playing a role in alleviating the motion sickness feeling of passengers.

[0051] In an embodiment of the present invention, the displaying the acceleration and deceleration dynamic effects during the longitudinal motion of the vehicle based on the predicted longitudinal acceleration includes: When the predicted longitudinal acceleration is positive, it indicates that the vehicle is accelerating, and a backward dynamic effect is displayed on the vehicle's screen display unit; When the predicted longitudinal acceleration is negative, it indicates that the vehicle is decelerating, and a forward dynamic effect is displayed on the vehicle's screen display unit; wherein, the amplitude of the displayed backward or forward dynamic effect is proportional to the absolute value of the predicted longitudinal acceleration.

[0052] Specifically, according to the predicted longitudinal acceleration a xDisplay the dynamic effects of vehicle longitudinal acceleration and deceleration on the screen, which represent the sense of pushing back and leaning forward felt by the human body when the vehicle accelerates and decelerates. When the vehicle accelerates (a x is positive), a backward dynamic effect is generated. When the vehicle decelerates (a x is negative), a forward dynamic effect is generated. The amplitude of the dynamic effect is proportional to the magnitude of the predicted longitudinal acceleration a x .

[0053] In an embodiment of the present invention, the display of the rotational motion dynamic effect when the vehicle turns based on the predicted yaw rate includes: When the predicted yaw rate is positive, it indicates that the vehicle is turning left, and a clockwise dynamic effect is displayed on the vehicle's screen display unit; when the predicted yaw rate is negative, it indicates that the vehicle is turning right, and a counterclockwise dynamic effect is displayed on the vehicle's screen display unit; wherein, the amplitude of the displayed clockwise or counterclockwise dynamic effect is proportional to the absolute value of the predicted yaw rate.

[0054] Specifically, the rotational motion dynamic effect when the vehicle turns is displayed on the screen through the predicted yaw rate w_des, which represents the rotational motion felt by the human body when the vehicle turns. When the vehicle turns left (w_des is positive), a clockwise dynamic effect is generated. When the vehicle turns right (w_des is negative), a counterclockwise dynamic effect is generated.

[0055] In an embodiment of the present invention, the display of the lateral centrifugal force dynamic effect when the vehicle moves laterally based on the predicted lateral acceleration includes: When the predicted lateral acceleration is positive, it indicates that the vehicle is turning left, and a rightward dynamic effect is displayed on the vehicle's screen display unit; when the predicted lateral acceleration is negative, it indicates that the vehicle is turning right, and a leftward dynamic effect is displayed on the vehicle's screen display unit; wherein, the amplitude of the displayed rightward or leftward dynamic effect is proportional to the absolute value of the predicted lateral acceleration.

[0056] Specifically, through the predicted lateral acceleration a y display the dynamic effect of the vehicle's lateral movement on the screen, which represents the lateral centrifugal force felt by the human body when the vehicle turns. When the vehicle turns left (a y is positive), a rightward dynamic effect is generated. When the vehicle turns right (a y is negative), a leftward dynamic effect is generated. The amplitude of the dynamic effect is proportional to the magnitude of the predicted lateral acceleration a y .

[0057] Specifically, the centrifugal force is the force that the object feels pointing outward from the center of the circle with the center of the circle as the midpoint. The magnitude of the centrifugal force is m*v 2 / r, and the unit is Newton (N). a x , a yMoreover, the magnitudes of w_des and the like on the screen are characterized by the speed of the movement of points on the screen and the intensity of special effects.

[0058] As Figure 5 shown, the present invention characterizes these three parameters by the movement of anti-motion sickness points (white points in the figure) on the screen. The points themselves have two degrees of freedom on the plane to characterize a x and a y , and at the same time, special effects can be used to assist in characterizing w_des.

[0059] In Figure 5 , the anti-motion sickness active area is configured in a bidirectional symmetric layout. The anti-motion sickness points on the left and right sides show a composite structure of radial gradient decrease and phase interleaving distribution from the screen edge to the center. The movement trajectory of the anti-motion sickness points is set as a composite circular path of "down → up → left → right → up → down → right → left", which can effectively relieve the phenomenon of passengers' motion sickness.

[0060] Herein, the present invention predicts the motion state parameters such as vehicle acceleration, deceleration, and turning in advance and displays them on the screen in advance, so as to more timely prompt the vehicle motion to passengers and better play the role of suppressing motion sickness.

[0061] As Figure 4 shown, the third aspect of the present invention provides a vehicle motion state prediction system, including: A first acquisition unit, at least used to acquire and obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters; A second acquisition unit, at least used to acquire and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction of the vehicle; A third acquisition unit, at least used to acquire a predicted lateral acceleration based on the predicted yaw rate and vehicle speed.

[0062] Herein, the present invention can predict the vehicle motion states such as vehicle acceleration, deceleration, and turning in advance through the vehicle motion state prediction parameters, provide forward-looking motion state prompts for passengers, effectively solve the motion sickness problem caused by the lag of real-time parameter feedback, and at the same time provide lead data for the vehicle control system, improving the riding comfort and the accuracy and forward-looking of vehicle motion control.

[0063] As Figure 6 shown, the fourth aspect of the present invention provides an anti-motion sickness prompt system, including: A first special effect unit, including a first acquisition unit and a first display unit, wherein: The first acquisition unit is at least used to acquire and obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters; The first display unit displays the acceleration and deceleration special effects during the longitudinal motion of the vehicle based on the predicted longitudinal acceleration; The second dynamic effect unit includes a second acquisition unit and a second display unit, where: The second acquisition unit is at least used to acquire and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction; The second display unit is at least used to display the dynamic effect of the rotational motion when the vehicle turns based on the predicted yaw rate; The third dynamic effect unit includes a third acquisition unit and a third display unit, where: The third acquisition unit is at least used to acquire a predicted lateral acceleration based on the predicted yaw rate and the vehicle speed; The third display unit is at least used to display the dynamic effect of the lateral centrifugal force when the vehicle moves laterally based on the predicted lateral acceleration.

[0064] In an embodiment of the present invention, in the first display unit: When the predicted longitudinal acceleration is positive, it indicates that the vehicle is accelerating, and a backward dynamic effect is displayed on the vehicle's screen display unit; When the predicted longitudinal acceleration is negative, it indicates that the vehicle is decelerating, and a forward dynamic effect is displayed on the vehicle's screen display unit; Wherein, the amplitude of the displayed backward or forward dynamic effect is proportional to the absolute value of the predicted longitudinal acceleration.

[0065] Specifically, according to the predicted longitudinal acceleration, the dynamic effect of the vehicle's longitudinal acceleration and deceleration is displayed on the screen, characterizing the sense of being pushed back and leaning forward felt by the human body when the vehicle accelerates and decelerates. When the vehicle accelerates, a backward dynamic effect is generated, and when the vehicle decelerates, a forward dynamic effect is generated. The amplitude of the dynamic effect is proportional to the magnitude of the predicted longitudinal acceleration.

[0066] In an embodiment of the present invention, in the second display unit: When the predicted yaw rate is positive, it indicates that the vehicle is turning left, and a clockwise dynamic effect is displayed on the vehicle's screen display unit; when the predicted yaw rate is negative, it indicates that the vehicle is turning right, and a counterclockwise dynamic effect is displayed on the vehicle's screen display unit; wherein, the amplitude of the displayed clockwise or counterclockwise dynamic effect is proportional to the absolute value of the predicted yaw rate.

[0067] Specifically, through the predicted yaw rate, the dynamic effect of the rotational motion when the vehicle turns is displayed on the screen, characterizing the rotational motion felt by the human body when the vehicle turns. When the vehicle turns left, a clockwise dynamic effect is generated, and when the vehicle turns right, a counterclockwise dynamic effect is generated.

[0068] In an embodiment of the present invention, in the first display unit: When the predicted lateral acceleration is positive, it indicates that the vehicle is turning left, and a rightward animation effect is displayed on the vehicle's screen display unit; when the predicted lateral acceleration is negative, it indicates that the vehicle is turning right, and a leftward animation effect is displayed on the vehicle's screen display unit; wherein, the amplitude of the displayed rightward or leftward animation effect is proportional to the absolute value of the predicted lateral acceleration.

[0069] Specifically, by predicting the lateral acceleration, an animation effect of the vehicle's lateral movement is displayed on the screen, which characterizes the lateral centrifugal force felt by the human body when the vehicle turns. When the vehicle turns left, a rightward animation effect is generated, and when the vehicle turns right, a leftward animation effect is generated. The amplitude of the animation effect is proportional to the magnitude of the predicted lateral acceleration.

[0070] Here, by predicting in advance the motion state parameters of the vehicle such as acceleration, deceleration, and turning, and displaying them on the screen in advance, the vehicle motion can be prompted to the passengers more timely, and the effect of suppressing motion sickness can be better achieved.

[0071] Based on the same idea as the method in the above embodiment, the system provided by the present invention can implement the method of the above embodiment. For the convenience of description, in the structural schematic diagram of the system embodiment, only the parts related to the embodiment of the present invention are shown. Those skilled in the art can understand that the illustrated structure does not constitute a limitation to the system, and it may include more or fewer components than those illustrated, or combine certain components, or arrange different components.

[0072] As Figure 7 shown, a fifth aspect of the present invention provides an electronic device, including: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the steps of the method according to any one of the above embodiments by invoking the program instructions.

[0073] A sixth aspect of the present invention discloses a readable storage medium storing a computer program, and the computer program is executed by a processor to perform the steps of the method according to any one of the above embodiments.

[0074] A computer-readable storage medium may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0075] Any process or method description represented in a flowchart or described otherwise herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where functions may be performed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0076] The logic and / or steps represented in a flowchart or described otherwise herein, for example, may be considered as a sequenced list of executable instructions for implementing a logical function, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for predicting the motion state of a vehicle, characterized in that, Comprising: Obtain and obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters; Obtain and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction of the vehicle; Obtain a predicted lateral acceleration based on the predicted yaw rate and the vehicle speed.

2. The vehicle motion state prediction method according to claim 1, characterized in that, The vehicle driving parameters at least include vehicle rolling resistance, vehicle air resistance, road slope angle, vehicle mass, and wheel rolling radius; Obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters through the following formula: Among them, the predicted longitudinal acceleration is represented by a x The vehicle mass is represented by m, the vehicle torque is represented by Tq, the wheel rolling radius is represented by R, and the vehicle aerodynamic drag is represented by F d The vehicle rolling resistance is represented by F f The road slope angle is represented by θ 3. The vehicle motion state prediction method according to claim 1, wherein Obtain vehicle torque, including: Obtain and obtain a driving demand torque based on the accelerator pedal opening and the vehicle speed; Obtain and obtain a braking torque based on the hydraulic braking torque and the motor energy recovery torque; Obtain vehicle torque based on the driving demand torque and the braking torque.

4. The vehicle motion state prediction method according to claim 1, wherein The obtaining and obtaining a braking torque based on the hydraulic braking torque and the motor energy recovery torque includes: Obtain and convert the brake master cylinder pressure into a corresponding hydraulic braking torque; Add the hydraulic braking torque and the motor energy recovery torque to obtain a braking torque.

5. The vehicle motion state prediction method according to claim 1, characterized in that Obtain and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction of the vehicle, including: Obtain a predicted yaw rate based on the vehicle speed, the front wheel angle, and the rear wheel angle in the longitudinal direction of the vehicle through the following formula: Among them, the predicted yaw rate is denoted as w_des, the vehicle speed in the longitudinal direction is denoted as v x and the front wheel steering angle is denoted as δ F and the rear wheel steering angle is denoted as δ R , K is the stability coefficient, and L is the wheelbase.

6. The vehicle motion state prediction method according to claim 5, characterized in that, Obtain a predicted lateral acceleration based on the predicted yaw rate and the vehicle speed through the following formula: a y = w_des·v, where v is the vehicle speed.

7. An anti-motion sickness prompting method based on the vehicle motion state prediction method according to any one of claims 1-6, characterized in that, Comprising: Display an acceleration and deceleration dynamic effect during vehicle longitudinal movement based on the predicted longitudinal acceleration; And / or Display a rotational movement dynamic effect during vehicle turning based on the predicted yaw rate; and / or Display a lateral centrifugal force dynamic effect during vehicle lateral movement based on the predicted lateral acceleration.

8. The motion sickness prevention reminder method according to claim 7, characterized in that, The displaying an acceleration and deceleration dynamic effect during vehicle longitudinal movement based on the predicted longitudinal acceleration includes: When the predicted longitudinal acceleration is positive, it indicates that the vehicle is accelerating, and a backward dynamic effect is displayed on the vehicle's screen display unit; When the predicted longitudinal acceleration is negative, it indicates that the vehicle is decelerating, and a forward dynamic effect is displayed on the vehicle's screen display unit.

9. The motion sickness prevention reminder method according to claim 7, wherein, The displaying a rotational movement dynamic effect during vehicle turning based on the predicted yaw rate includes: When the predicted yaw rate is positive, it indicates that the vehicle is turning left, and a clockwise dynamic effect is displayed on the vehicle's screen display unit; when the predicted yaw rate is negative, it indicates that the vehicle is turning right, and a counterclockwise dynamic effect is displayed on the vehicle's screen display unit.

10. The motion sickness prevention reminder method according to claim 7, wherein The displaying a lateral centrifugal force dynamic effect during vehicle lateral movement based on the predicted lateral acceleration includes: When the predicted lateral acceleration is positive, it indicates that the vehicle is turning left, and a rightward dynamic effect is displayed on the vehicle's screen display unit; When the predicted lateral acceleration is negative, it indicates that the vehicle is turning right, and a leftward dynamic effect is displayed on the vehicle's screen display unit.

11. A vehicle motion state prediction system, characterized in that, Comprising: A first obtaining unit, at least used to obtain and obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters; A second obtaining unit, at least used to obtain and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction of the vehicle; A third obtaining unit, at least used to obtain a predicted lateral acceleration based on the predicted yaw rate and the vehicle speed.

12. A motion sickness prevention reminder system, characterized in that, Comprising: A first dynamic effect unit, including a first obtaining unit and a first display unit, wherein: The first acquisition unit is at least configured to acquire and obtain a predicted longitudinal acceleration based on vehicle torque and vehicle driving parameters; The first display unit displays an acceleration / deceleration dynamic effect during the longitudinal movement of the vehicle based on the predicted longitudinal acceleration; The second dynamic effect unit includes a second acquisition unit and a second display unit, wherein: The second acquisition unit is at least configured to acquire and obtain a predicted yaw rate based on the vehicle speed and the front and rear wheel angles in the longitudinal direction of the vehicle; The second display unit is at least configured to display a rotational movement dynamic effect during vehicle turning based on the predicted yaw rate; The third dynamic effect unit includes a third acquisition unit and a third display unit, wherein: The third acquisition unit is at least configured to obtain a predicted lateral acceleration based on the predicted yaw rate and the vehicle speed; The third display unit is at least configured to display a lateral centrifugal force dynamic effect during the lateral movement of the vehicle based on the predicted lateral acceleration; 13. An electronic device, characterized in that, Comprising: At least one processor; And at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the steps of the vehicle motion state prediction method according to any one of claims 1-6 or the motion sickness prevention prompt method according to any one of claims 7-10 by invoking the program instructions.

14. A readable storage medium stores a computer program, characterized in that, The computer program is executed by the processor to perform the steps of the vehicle motion state prediction method according to any one of claims 1-6 or the motion sickness prevention prompt method according to any one of claims 7-10.

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