Motion sickness dose value determination method, device and equipment and readable storage medium

Abstract

The invention discloses a motion sickness dose value determination method, device and equipment and a readable storage medium. The method comprises the steps that in the moving process of a vehicle, acceleration and angular acceleration of the vehicle in three directions are collected at a preset frequency; according to the accelerations of the vehicle in the three directions, acceleration gradients of the vehicle in the three directions are determined; according to the angular accelerations of the vehicle in the three directions, angular acceleration gradients of the vehicle in the three directions are determined; integrating the determined accelerations, acceleration gradients, angular accelerations and angular acceleration gradients of the vehicle in the three directions to obtain a motion sickness dosage value; calculating a motion sickness attenuation value corresponding to each target time period, and synthesizing the motion sickness attenuation values corresponding to all the target time periods to obtain a motion sickness attenuation comprehensive value; and obtaining a motion sickness dose correction value according to a difference value between the motion sickness dose value and the motion sickness attenuation comprehensive value. According to the method and the device, the occurrence possibility of the motion sickness is accurately quantified.

Description

Technical Field

[0001] This application relates to the field of motion measurement technology, specifically to a method, apparatus, device, and computer-readable storage medium for determining motion sickness dose values. Background Technology

[0002] New energy vehicles have faster motor and braking system responses than traditional internal combustion engine vehicles. Their drive-by-wire chassis also employs decoupled actuators similar to electronic accelerator pedals, resulting in faster responses than traditional chassis vehicles. This multi-directional motion can easily lead to motion sickness in passengers. Motion sickness is a subjective experience for passengers, and a method to quantify its potential occurrence is urgently needed. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a method, apparatus, device, and computer-readable storage medium for determining motion sickness dose values.

[0004] In a first aspect, embodiments of this application provide a method for determining motion sickness dose values, the method comprising: During vehicle movement, the vehicle's acceleration and angular acceleration in three directions are collected at a preset frequency; Determine the acceleration gradient of the vehicle in the three directions based on the vehicle's acceleration in the three directions; Determine the angular acceleration gradient of the vehicle in the three directions based on the angular acceleration of the vehicle in the three directions; By combining the known vehicle acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions, the motion sickness dose value is obtained; Calculate the motion sickness attenuation value for each target time period, and combine the motion sickness attenuation values ​​for all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions and the vehicle's angular acceleration in all three directions are less than the preset acceleration during the target time period. The motion sickness dose correction value is obtained based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

[0005] In conjunction with the first aspect, in one embodiment, the three directions include the X-axis direction, the Y-axis direction, and the Z-axis direction, wherein the X-axis is parallel to the ground on which the vehicle is located and points in front of the vehicle, the Z-axis passes through the vehicle's center of gravity and points upward, and the Y-axis points to the left side of the driver's seat.

[0006] In conjunction with the first aspect, in one embodiment, the acceleration is real-time acceleration or frequency-weighted acceleration; the angular acceleration is real-time angular acceleration or frequency-weighted angular acceleration.

[0007] In conjunction with the first aspect, in one embodiment, the acceleration gradient is the change of acceleration over time per unit time; the angular acceleration gradient is the change of angular acceleration over time per unit time.

[0008] In conjunction with the first aspect, in one implementation method, the formula for calculating the motion sickness dose value is:

[0009] in, for Motion sickness dosage values ​​at specific times; , and These are the X-axis direction, Y-axis direction, and Z-axis direction, respectively. For direction The corresponding first weight, The moment when the vehicle begins to move. Direction at time t acceleration, For direction The corresponding second weight, Direction at time t acceleration gradient, For direction The corresponding third weight, For direction The corresponding fourth weight, Direction at time t angular acceleration, Direction at time t The angular acceleration gradient.

[0010] In conjunction with the first aspect, in one implementation, the motion sickness attenuation value corresponding to the target time period increases with the duration of the target time period and converges to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period.

[0011] In conjunction with the first aspect, in one implementation method, the formula for calculating the motion sickness attenuation value is:

[0012] in, The motion sickness attenuation value corresponding to the target time period j. This refers to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j. , It is an exponential function with the natural constant as its base. Let j be the duration of the target time period. , .

[0013] Secondly, embodiments of this application provide a motion sickness dose value determination device, the motion sickness dose value determination device comprising: The data acquisition module is used to collect the vehicle's acceleration and angular acceleration in three directions at a preset frequency during the vehicle's movement. The first calculation module is used to determine the acceleration gradient of the vehicle in three directions based on the vehicle's acceleration in three directions; The second calculation module is used to determine the angular acceleration gradient of the vehicle in the three directions based on the angular acceleration of the vehicle in the three directions. The third calculation module is used to synthesize the determined vehicle acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions to obtain the motion sickness dose value; The fourth calculation module is used to calculate the motion sickness attenuation value corresponding to each target time period, and to combine the motion sickness attenuation values ​​corresponding to all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions during the target time period is less than the preset acceleration and the vehicle's angular acceleration in all three directions is less than the preset angular acceleration. The correction module is used to obtain the motion sickness dose correction value based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

[0014] Thirdly, embodiments of this application provide a motion sickness dose value determination device, the motion sickness dose value determination device including a processor, a memory, and a motion sickness dose value determination program stored in the memory and executable by the processor, wherein when the motion sickness dose value determination program is executed by the processor, it implements the steps of the motion sickness dose value determination method as described in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a motion sickness dose value determination program, wherein when the motion sickness dose value determination program is executed by a processor, it implements the steps of the motion sickness dose value determination method as described in the first aspect.

[0016] The beneficial effects of the technical solutions provided in this application include: In this embodiment, during vehicle movement, the vehicle's acceleration and angular acceleration in three directions are collected at a preset frequency. Based on the vehicle's acceleration in the three directions, the acceleration gradients in those three directions are determined. Based on the vehicle's angular acceleration in the three directions, the angular acceleration gradients in those three directions are determined. By combining the determined acceleration, acceleration gradients, angular acceleration, and angular acceleration gradients in the three directions, a motion sickness dose value is obtained. The motion sickness attenuation value for each target time period is calculated, and by combining the motion sickness attenuation values ​​for all target time periods, a comprehensive motion sickness attenuation value is obtained. During the target time period, the vehicle's acceleration in all three directions is less than a preset acceleration, and the vehicle's angular acceleration in all three directions is less than a preset angular acceleration. The difference between the motion sickness dose value and the comprehensive motion sickness attenuation value is used to obtain a motion sickness dose correction value. This embodiment fully considers the impact of acceleration, angular acceleration, and impact on comfort during translational and rotational motions, and further considers the motion sickness relief phenomenon caused by stimulus attenuation, thus achieving accurate quantification of the probability of motion sickness occurrence. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the motion sickness dose value determination method of this application; Figure 2 This is a schematic diagram of the functional modules of an embodiment of the motion sickness dose value determination device of this application; Figure 3 This is a schematic diagram of the hardware structure of the motion sickness dose value determination device involved in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] In a first aspect, embodiments of this application provide a method for determining the dose value of motion sickness.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the motion sickness dose value determination method of this application. Figure 1 As shown, the methods for determining motion sickness dose values ​​include: Step S10: During the vehicle's movement, the vehicle's acceleration and angular acceleration in three directions are collected at a preset frequency. In this embodiment, a triaxial accelerometer or inertial measurement unit (IMU) is installed on the vehicle to determine the vehicle's acceleration in three directions. This sensor can be installed near the vehicle's center of gravity or directly integrated into the vehicle's chassis control unit or under the seat to reflect the overall motion experienced by the occupants as accurately as possible.

[0022] In addition to forward, backward, left, and right movements, vehicles also experience pitch, roll, and yaw rotational movements. These rotational movements can also trigger motion sickness, so it is necessary to simultaneously collect angular acceleration data in three directions. This can be achieved by measuring the vehicle's angular velocity in these three directions using a gyroscope, and then converting the angular velocity into angular acceleration. It should be noted that the angular velocity of a vehicle in a particular direction refers to the angular velocity of rotation around that direction.

[0023] Acceleration and angular velocity (used to calculate angular acceleration) are collected synchronously at the same preset frequency to ensure timestamp alignment, laying the foundation for subsequent comprehensive calculations.

[0024] Specifically, once the vehicle starts or enters a driving state, the data acquisition system samples at a preset frequency. The preset frequency is set based on actual needs to capture the main frequency components of vehicle motion without distortion. Considering that vehicle vibrations causing motion sickness are mainly concentrated in the low-frequency range (e.g., linear oscillations and angular motions from 0.1Hz to 0.5Hz), but may also include higher-frequency jitter, the preset frequency is typically set between 50Hz and 200Hz. For example, a preferred embodiment uses a sampling frequency of 100Hz, which effectively captures motion details related to motion sickness without placing an excessive computational burden on the processing unit.

[0025] Furthermore, the acquired raw acceleration / angular velocity signals may contain high-frequency noise (such as engine vibration). Therefore, the acquired raw acceleration / angular velocity signals can be digitally filtered. For example, a low-pass filter with a cutoff frequency of 10Hz can be used to retain the low-frequency motion components associated with motion sickness while filtering out high-frequency noise.

[0026] Furthermore, in one embodiment, the three directions include the X-axis direction, the Y-axis direction, and the Z-axis direction, wherein the X-axis is parallel to the ground on which the vehicle is located and points in front of the vehicle, the Z-axis passes through the center of gravity of the vehicle and points upward, and the Y-axis points to the left side of the driver's seat.

[0027] In this embodiment, the X-axis is defined as "parallel to the ground where the vehicle is located and pointing forward of the vehicle." Acceleration in this direction primarily reflects the longitudinal motion of the vehicle, including: Positive acceleration: vehicle acceleration; Negative acceleration: Vehicle deceleration (driving force is less than resistance or braking).

[0028] The Y-axis is defined as "pointing to the left of the driver's seat." Acceleration in this direction primarily reflects the vehicle's lateral movement, including: Positive / negative acceleration: The centrifugal acceleration generated when a vehicle turns (positive for left turns, negative for right turns). The acceleration component generated when a vehicle tilts to the side.

[0029] The Z-axis is defined as "pointing upwards through the vehicle's center of gravity." Acceleration in this direction primarily reflects the vehicle's vertical motion, including: Positive acceleration: The vehicle moves upward (such as when driving over a raised surface).

[0030] Negative acceleration: the vehicle moves downwards (such as when driving over a pothole), and there is also the constant gravitational acceleration (approximately -9.8 m / s², which needs to be compensated or filtered during data processing).

[0031] To further ensure the final result It can accurately reflect To determine the motion sickness dosage at any given time, the following preparatory work is required: When installing a three-axis accelerometer, IMU sensor, or gyroscope, its X, Y, and Z axes should be aligned with the vehicle coordinate system defined above as much as possible. This can be achieved through mechanical fixtures and calibration procedures.

[0032] Since installation errors are unavoidable, software calibration is necessary. Common methods include: Static calibration: The vehicle is parked on a level surface. Theoretically, the acceleration vector measured by the sensor should be (0, 0, -g), where g is the acceleration due to gravity. By analyzing the deviation between the measured and theoretical values, a rotation matrix can be calculated to convert the sensor readings to a standard vehicle coordinate system.

[0033] Dynamic calibration: During driving, the attitude of the coordinate system is continuously corrected by combining data from the gyroscope and magnetometer through sensor fusion algorithms (such as Kalman filtering and complementary filtering) to counteract coordinate system drift caused by small deformations that may occur during long-term vehicle driving.

[0034] Furthermore, in one embodiment, the acceleration is real-time acceleration or frequency-weighted acceleration.

[0035] In this embodiment, real-time acceleration refers to the instantaneous acceleration value directly read from the triaxial accelerometer / IMU sensor, or after basic preprocessing (such as the aforementioned low-pass filtering and coordinate system transformation). It represents the vehicle's true kinematic state at that moment and in that direction.

[0036] Frequency-weighted acceleration refers to the acceleration signal after frequency-weighting processing of a real-time acceleration signal. Its core idea is to mimic the human body's sensitivity to vibrations of different frequencies, amplifying certain frequency bands of the original signal and attenuating others.

[0037] Using real-time acceleration as the acceleration used to calculate motion sickness dosage eliminates the need for complex frequency-weighted filtering, simplifying the calculation, minimizing latency, and reducing processor resource requirements. However, the human body's perception of vibration and the induction of motion sickness vary in sensitivity to different frequencies. Using real-time acceleration treats all frequencies equally, potentially failing to accurately reflect subjective sensations. Conversely, using frequency-weighted acceleration yields a more consistent motion sickness dosage value with the passenger's subjective experience, resulting in a more scientific and accurate assessment. However, the design and implementation of the filter require additional computation, introducing processing latency.

[0038] In the actual implementation, the motion sickness dose value can be switched between modes (for example, mode 1: using real-time acceleration to calculate the motion sickness dose value; mode 2: using frequency-weighted acceleration to calculate the motion sickness dose value) according to actual needs, or the two modes can be used in parallel to obtain the motion sickness dose value under the two modes for use by different subsequent processing modules.

[0039] Step S20: Determine the acceleration gradient of the vehicle in the three directions based on the vehicle's acceleration in the three directions; In this embodiment, the occurrence of motion sickness is related not only to the absolute value of acceleration, but also closely to the drastic degree of acceleration change. Therefore, the motion sickness dose value used to characterize the probability of motion sickness needs to be obtained by combining the vehicle's acceleration in three directions and the acceleration gradient of the vehicle in three directions.

[0040] The acceleration gradient is defined as "the change in acceleration with respect to time per unit duration." In the continuous time domain, it is the first derivative of acceleration with respect to time. In discrete digital systems, it can be approximated using numerical differentiation. Specific calculation method: For each direction (i=X, Y, Z), at each sampling time point t, its acceleration gradient It can be calculated using the forward difference method:

[0041] in, It is the acceleration at the current moment. It is the acceleration of the previous moment. It is the sampling time interval (i.e., the reciprocal of the preset frequency, for example, when the frequency is 100Hz). Second).

[0042] Furthermore, to reduce the sensitivity of the difference calculation to noise, the acceleration sequence can be smoothed before calculating the acceleration gradient, for example, using a moving average filter. Alternatively, the center difference method can be used, i.e. However, this will introduce a delay of one sampling point.

[0043] Specifically, the forward difference method or the central difference method can be selected to calculate the acceleration gradient according to actual needs.

[0044] Step S30: Determine the angular acceleration gradient of the vehicle in the three directions based on the angular acceleration of the vehicle in the three directions; In this embodiment, the angular acceleration gradient is defined as the change of angular acceleration over time per unit duration. Refer to the embodiment of step S20; details will not be repeated here.

[0045] Furthermore, in one embodiment, the angular acceleration is real-time angular acceleration or frequency-weighted angular acceleration.

[0046] In this embodiment, similar to the above description of acceleration, it will not be repeated here.

[0047] Step S40: By combining the vehicle's acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions, the motion sickness dose value is obtained.

[0048] Relevant international standards quantify the likelihood of motion sickness by integrating root-mean-square frequency-weighted acceleration in the longitudinal, lateral, and vertical directions. However, existing methods mainly target longitudinal, lateral, and vertical translational motions. For certain types of vibrations, especially those involving intermittent impacts, even when the crest factor is no greater than 9, existing methods underestimate the severity of the discomfort caused by vibrations.

[0049] Numerous experiments have shown that sudden starts and stops, frequent acceleration and deceleration, or driving on mountain roads can easily trigger motion sickness, indicating that changes in acceleration have a significant impact on its occurrence. Furthermore, rotational movements such as pitching, yawing, and tilting can also cause strong motion sickness discomfort for occupants. Therefore, in this embodiment, by combining the vehicle's acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions, a more accurate motion sickness dose value reflecting the likelihood of motion sickness can be obtained.

[0050] Furthermore, in one embodiment, the formula for calculating the motion sickness dose value is:

[0051] in, for Motion sickness dosage values ​​at specific times; , and These are the X-axis direction, Y-axis direction, and Z-axis direction, respectively. For direction The corresponding first weight, The moment when the vehicle begins to move. Direction at time t acceleration, For direction The corresponding second weight, Direction at time t acceleration gradient, For direction The corresponding third weight, For direction The corresponding fourth weight, Direction at time t angular acceleration, Direction at time t The angular acceleration gradient.

[0052] In this embodiment, the calculation formula for the above-mentioned motion sickness dose value is explained as follows: The effects of vibration on the human body are related to the energy of the vibration, and energy is proportional to the square of acceleration. Therefore, integrating the square of acceleration reflects the cumulative vibration energy exposure. Changes in acceleration (i.e., acceleration gradient) are an important factor in inducing motion sickness; therefore, the square of the acceleration gradient is introduced as a penalty term. The square of angular acceleration reflects the instantaneous intensity or energy of rotational motion. The square of the angular acceleration gradient is a penalty term for the degree of abrupt change in rotational motion. Motion sickness is the result of cumulative long-term motion exposure; therefore, it is necessary to quantify the motion sickness dose value through time integration.

[0053] The first, second, third, and fourth weights in the above formula are adjustable parameters. Their precise values ​​need to be calibrated through extensive subject experiments. For example, subjects of different ages and genders can ride in vehicles under various road conditions and periodically report their motion sickness. Then, using the collected motion data and subjective ratings, machine learning (such as linear regression or neural networks) can be used to deduce the optimal combination of weight parameters.

[0054] Final calculation It is a value that monotonically increases (or at least does not decrease) as the journey progresses. It can be displayed directly to passengers or the driver, or compared with a preset threshold to trigger corresponding comfort interventions, such as adjusting the air conditioning, changing the autonomous driving following strategy, or suggesting a rest.

[0055] Step S50: Calculate the motion sickness attenuation value corresponding to each target time period, and combine the motion sickness attenuation values ​​corresponding to all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions during the target time period is less than the preset acceleration and the vehicle's angular acceleration in all three directions is less than the preset angular acceleration. In this embodiment, motion sickness has a cumulative effect over time. Once a certain vibration level is reached, the degree of motion sickness tends to increase with travel time. When the vibration level is low, the vehicle's motion sickness-inducing properties decrease, and the passenger's motion sickness tends to lessen over time. Therefore, in addition to considering the increase in motion sickness caused by acceleration and angular acceleration, the decrease in motion sickness caused by stable vehicle movement (lower acceleration and angular acceleration) must also be considered. Thus, when the vehicle's acceleration in all three directions and its angular acceleration in all three directions are less than the preset acceleration during the target time period, the motion sickness attenuation value corresponding to the target time period is calculated. It is easy to understand that by calculating the corresponding motion sickness attenuation value for each target time period and accumulating all calculated motion sickness attenuation values ​​for all target time periods, the comprehensive motion sickness attenuation value (denoted as ) can be obtained. ).

[0056] Furthermore, in one embodiment, the motion sickness attenuation value corresponding to the target time period increases with the duration of the target time period, and converges to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period.

[0057] In this embodiment, the formula for calculating the motion sickness attenuation value corresponding to the target time period j is as follows: Based on form, in which, This refers to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j. Let j be the start time corresponding to the target time period. Let j be the end time corresponding to the target time period. The motion sickness attenuation value can be a time-varying or time-invariant function, exhibiting linear or non-linear changes. That is, the motion sickness attenuation value corresponding to the target time period j increases with the duration of the target time period j, and converges to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j.

[0058] Optional:

[0059] in, , Let j be the duration of the target time period. For preset duration, Indicates to Round the value up. , and The value is determined through calibration. This represents the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j.

[0060] Furthermore, in one embodiment, the formula for calculating the motion sickness attenuation value is:

[0061] in, The motion sickness attenuation value corresponding to the target time period j. This refers to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j. , It is an exponential function with the natural constant as its base. Let j be the duration of the target time period. , .

[0062] In this embodiment, the motion sickness attenuation value is used to quantify the natural relief effect of motion sickness symptoms during stable vehicle movement and to correct the motion sickness dose value so that the motion sickness dose correction value is more consistent with the physiological characteristics that motion sickness will gradually subside in a stable environment after it occurs.

[0063] For example, if the vehicle starts moving at 8:00, the target time period is from 8:55 to 9:00, and the target time period is from 9:20 to 9:30. The motion sickness attenuation value for target time period 1 is then calculated. hour, The motion sickness dose values ​​are for the periods from 8:00 to 8:55. The motion sickness dose correction value for any time t between 9:00 and 9:20 is the motion sickness dose value for the periods from 8:00 to t. The difference.

[0064] Calculate the motion attenuation value corresponding to target time period 2. hour, It can be the motion sickness dose value corresponding to 8:00 to 9:20, or it can be the motion sickness dose value corresponding to 8:00 to 9:20 and... The difference (i.e., the motion sickness dose correction value corresponding to 9:20).

[0065] Traditional motion sickness assessment models typically only consider the cumulative effect of stimuli, neglecting the body's own recovery capabilities. This embodiment is based on the following physiological understandings: 1. Motion sickness symptoms accumulate and worsen under continuous motion stimulation; 2. When the motion stimulation weakens or disappears, vestibular system conflict decreases, and motion sickness symptoms begin to subside; 3. The rate of relief is not linear, but follows a specific decay law. When calculating the final motion sickness dose correction value, not only the cumulative effect of stimuli (…) is considered. It also takes into account the natural decay during stable periods ( ), This provides more accurate assessment results that better reflect actual physiological responses.

[0066] in: is the motion sickness attenuation value corresponding to the target time period j, used to characterize the degree of relief of motion sickness symptoms within the target time period j.

[0067] It represents the cumulative level of motion sickness experienced by passengers as they begin to reach a stable state, and serves as a baseline for attenuation.

[0068] The duration of the target time period j is the time dimension of the decay process, which directly affects the decay effect.

[0069] , The irreversible threshold represents the baseline motion sickness dose that cannot be eliminated no matter how long the steady state lasts. This simulates the physiological limits of the human body, that is, once certain levels of motion sickness stimulation accumulate, they cannot be completely eliminated by a short rest. Typically set to The value ranges from 10% to 30%, with the specific amount varying from person to person and can be determined through personalized calibration.

[0070] , These are parameters used to control the decay rate. The smaller the value, the faster the decay; The higher the value, the slower the decay, reflecting the differences in the recovery ability of different individuals to motion sickness symptoms. For young, healthy individuals, a smaller value is used in the calculation. Values, and for older or sensitive individuals, calculations can use larger values. value; Typical values ​​range from 60 to 600 seconds (1 to 10 minutes), reflecting the typical timescale of recovery from motion sickness symptoms in the general population.

[0071] , These are parameters used to control the shape of the decay curve. The value affects the "rapidity" of the decay: The larger the value, the faster the initial decay, and the slower it tends to level off later. When the value is close to 1, the decay is relatively uniform. The typical value range is from 1.5 to 3.0, and the optimal value is usually determined by fitting experimental data.

[0072] function It has the following important mathematical properties: when At the beginning of a stable state. ; when Approaching infinity (the steady state is infinitely long). Approaching 0; That is, as the duration of the target time period increases, The value of motion sickness decreases monotonically from 0 to 1, which makes the motion sickness attenuation value conform to the physiological characteristic that it increases with the duration of a stable state.

[0073] Furthermore, the duration of the target time period can be limited to be longer than the preset duration (e.g., 30 seconds).

[0074] Step S60: Obtain the motion sickness dose correction value based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

[0075] In this embodiment, the motion sickness dose value is subtracted from the obtained motion sickness attenuation value. The difference obtained is used as the dose correction value for motion sickness, so that the quantification of the probability of motion sickness not only considers the simple accumulation of stimulation, but also the physiological characteristics of motion sickness recovery with a stable state.

[0076] In this embodiment, during vehicle movement, the vehicle's acceleration and angular acceleration in three directions are collected at a preset frequency. Based on the vehicle's acceleration in the three directions, the acceleration gradients in those three directions are determined. Based on the vehicle's angular acceleration in the three directions, the angular acceleration gradients in those three directions are determined. By combining the determined acceleration, acceleration gradients, angular acceleration, and angular acceleration gradients in the three directions, a motion sickness dose value is obtained. The motion sickness attenuation value for each target time period is calculated, and by combining the motion sickness attenuation values ​​for all target time periods, a comprehensive motion sickness attenuation value is obtained. During the target time period, the vehicle's acceleration in all three directions is less than a preset acceleration, and the vehicle's angular acceleration in all three directions is less than a preset angular acceleration. The difference between the motion sickness dose value and the comprehensive motion sickness attenuation value is used to obtain a motion sickness dose correction value. This embodiment fully considers the impact of acceleration, angular acceleration, and impact on comfort during translational and rotational motions, and further considers the motion sickness relief phenomenon caused by stimulus attenuation, thus achieving accurate quantification of the probability of motion sickness occurrence.

[0077] Secondly, embodiments of this application also provide a motion sickness dose value determination device.

[0078] In one embodiment, reference is made to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the motion sickness dose value determination device of this application. Figure 2 As shown, the motion sickness dose determination device includes: The acquisition module 10 is used to acquire the vehicle's acceleration and angular acceleration in three directions at a preset frequency during the vehicle's movement. The first calculation module 20 is used to determine the acceleration gradient of the vehicle in three directions based on the vehicle's acceleration in three directions; The second calculation module 30 is used to determine the angular acceleration gradient of the vehicle in three directions based on the angular acceleration of the vehicle in three directions. The third calculation module 40 is used to integrate the determined vehicle acceleration, acceleration gradient, angular acceleration and angular acceleration gradient in three directions to obtain the motion sickness dose value; The fourth calculation module 50 is used to calculate the motion sickness attenuation value corresponding to each target time period, and to combine the motion sickness attenuation values ​​corresponding to all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions during the target time period is less than the preset acceleration and the vehicle's angular acceleration in all three directions is less than the preset angular acceleration. The correction module 60 is used to obtain the motion sickness dose correction value based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

[0079] Furthermore, in one embodiment, the three directions include the X-axis direction, the Y-axis direction, and the Z-axis direction, wherein the X-axis is parallel to the ground on which the vehicle is located and points in front of the vehicle, the Z-axis passes through the center of gravity of the vehicle and points upward, and the Y-axis points to the left side of the driver's seat.

[0080] Furthermore, in one embodiment, the acceleration is real-time acceleration or frequency-weighted acceleration; the angular acceleration is real-time angular acceleration or frequency-weighted angular acceleration.

[0081] Furthermore, in one embodiment, the acceleration gradient is the change of acceleration over time per unit time; the angular acceleration gradient is the change of angular acceleration over time per unit time.

[0082] Furthermore, in one embodiment, the formula for calculating the motion sickness dose value is:

[0083] in, for Motion sickness dosage values ​​at specific times; , and These are the X-axis direction, Y-axis direction, and Z-axis direction, respectively. For direction The corresponding first weight, The moment when the vehicle begins to move. Direction at time t acceleration, For direction The corresponding second weight, Direction at time t acceleration gradient, For direction The corresponding third weight, For direction The corresponding fourth weight, Direction at time t angular acceleration, Direction at time t The angular acceleration gradient.

[0084] Furthermore, in one embodiment, the motion sickness attenuation value corresponding to the target time period increases with the duration of the target time period, and converges to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period.

[0085] Furthermore, in one embodiment, the formula for calculating the motion sickness attenuation value is:

[0086] in, The motion sickness attenuation value corresponding to the target time period j. This refers to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j. , It is an exponential function with the natural constant as its base. Let j be the duration of the target time period. , .

[0087] The functions of each module in the motion sickness dose value determination device correspond to the steps in the motion sickness dose value determination method embodiment, and their functions and implementation processes will not be described in detail here.

[0088] Thirdly, embodiments of this application provide a motion sickness dose value determination device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0089] Reference Figure 3 , Figure 3 This is a schematic diagram of the hardware structure of the motion sickness dose value determination device involved in the embodiments of this application. In the embodiments of this application, the motion sickness dose value determination device may include a processor, a memory, a communication interface, and a communication bus.

[0090] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0091] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the motion sickness dose determination device, as well as interfaces used for interconnecting the device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0092] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0093] The processor can be a general-purpose processor, which can call the motion sickness dose value determination program stored in the memory and execute the motion sickness dose value determination method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the motion sickness dose value determination program is called can be referred to the various embodiments of the motion sickness dose value determination method of this application, and will not be repeated here.

[0094] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0095] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0096] The present application has a computer-readable storage medium storing a motion sickness dose value determination program, wherein when the motion sickness dose value determination program is executed by a processor, it implements the steps of the motion sickness dose value determination method as described above.

[0097] The method implemented when the motion sickness dose value determination procedure is executed can be referred to in the various embodiments of the motion sickness dose value determination method of this application, and will not be repeated here.

[0098] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0099] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0100] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0101] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0102] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0104] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for determining the dosage value of motion sickness, characterized in that, The method for determining the motion sickness dosage value includes: During vehicle movement, the vehicle's acceleration and angular acceleration in three directions are collected at a preset frequency; Determine the acceleration gradient of the vehicle in the three directions based on the vehicle's acceleration in the three directions; Determine the angular acceleration gradient of the vehicle in the three directions based on the angular acceleration of the vehicle in the three directions; By combining the known vehicle acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions, the motion sickness dose value is obtained; Calculate the motion sickness attenuation value for each target time period, and combine the motion sickness attenuation values ​​for all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions and the vehicle's angular acceleration in all three directions are less than the preset acceleration during the target time period. The motion sickness dose correction value is obtained based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

2. The method for determining motion sickness dosage as described in claim 1, characterized in that, The three directions include the X-axis, Y-axis, and Z-axis. The X-axis is parallel to the ground where the vehicle is located and points in front of the vehicle. The Z-axis passes through the vehicle's center of gravity and points upward. The Y-axis points to the left of the driver's seat.

3. The method for determining motion sickness dosage as described in claim 1, characterized in that, The acceleration is real-time acceleration or frequency-weighted acceleration; the angular acceleration is real-time angular acceleration or frequency-weighted angular acceleration.

4. The method for determining motion sickness dosage as described in claim 1, characterized in that, The acceleration gradient is the change of acceleration over time per unit time; the angular acceleration gradient is the change of angular acceleration over time per unit time.

5. The method for determining motion sickness dosage as described in claim 1, characterized in that, The formula for calculating the motion sickness dose value is: in, for Motion sickness dosage values ​​at any given time; , and These are the X-axis direction, Y-axis direction, and Z-axis direction, respectively. For direction The corresponding first weight, The moment when the vehicle begins to move. Direction at time t acceleration, For direction The corresponding second weight, Direction at time t acceleration gradient, For direction The corresponding third weight, For direction The corresponding fourth weight, Direction at time t angular acceleration, Direction at time t The angular acceleration gradient.

6. The method for determining motion sickness dosage as described in claim 1, characterized in that, The motion sickness attenuation value corresponding to the target time period increases with the duration of the target time period and converges to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period.

7. The method for determining motion sickness dosage as described in claim 6, characterized in that, The formula for calculating motion sickness attenuation is: in, The motion sickness attenuation value corresponding to the target time period j. This refers to the motion sickness dose value or motion sickness dose correction value corresponding to the start time of the target time period j. , It is an exponential function with the natural constant as its base. Let j be the duration of the target time period. , .

8. A device for determining the dosage value of motion sickness, characterized in that, The motion sickness dosage determination device includes: The data acquisition module is used to collect the vehicle's acceleration and angular acceleration in three directions at a preset frequency during the vehicle's movement. The first calculation module is used to determine the acceleration gradient of the vehicle in three directions based on the vehicle's acceleration in three directions; The second calculation module is used to determine the angular acceleration gradient of the vehicle in the three directions based on the angular acceleration of the vehicle in the three directions. The third calculation module is used to synthesize the determined vehicle acceleration, acceleration gradient, angular acceleration, and angular acceleration gradient in three directions to obtain the motion sickness dose value; The fourth calculation module is used to calculate the motion sickness attenuation value corresponding to each target time period, and to combine the motion sickness attenuation values ​​corresponding to all target time periods to obtain the comprehensive motion sickness attenuation value. Among them, the vehicle's acceleration in all three directions during the target time period is less than the preset acceleration and the vehicle's angular acceleration in all three directions is less than the preset angular acceleration. The correction module is used to obtain the motion sickness dose correction value based on the difference between the motion sickness dose value and the motion sickness attenuation comprehensive value.

9. A device for determining the dosage value of motion sickness, characterized in that, The motion sickness dose determination device includes a processor, a memory, and a motion sickness dose determination program stored in the memory and executable by the processor, wherein when the motion sickness dose determination program is executed by the processor, it implements the steps of the motion sickness dose determination method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a motion sickness dose value determination program, wherein when the motion sickness dose value determination program is executed by a processor, it implements the steps of the motion sickness dose value determination method as described in any one of claims 1 to 7.

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