Method for suppressing motion sickness of vehicle, electronic device, storage medium, and program product

Abstract

Embodiments of the present application provide a method for inhibiting motion sickness of a vehicle, an electronic device, a storage medium and a program product. The method comprises: collecting vehicle motion data, and calculating a motion trajectory of a dynamic reference point according to the vehicle motion data; wherein the dynamic reference point is used to map the motion state of the vehicle to inhibit motion sickness of the vehicle; and rendering the motion trajectory of the dynamic reference point to at least one display device of the vehicle. The method is used to reduce the incidence of motion sickness of the vehicle occupants.

Description

Technical Field

[0001] This application relates to the field of human-computer interaction and in-vehicle display technology for intelligent connected vehicles, and in particular to a method for suppressing motion sickness, electronic devices, storage media, and program products. Background Technology

[0002] With the rapid development of intelligent connected vehicles and new energy vehicles, motion sickness has become an increasingly prominent issue. Traditional gasoline-powered vehicles have relatively manageable motion sickness due to their slower power response; however, new energy vehicles possess characteristics of instantaneous high torque and rapid acceleration and deceleration, leading to a more intense conflict between the visual and vestibular perceptions of occupants, resulting in a significant increase in the incidence of motion sickness.

[0003] Existing technologies often alleviate the problem through drug intervention or passive protection (such as reducing visual stimulation inside the vehicle), but drugs have side effects and cannot be used continuously, while passive protection does not solve the problem of perceptual conflict at its root.

[0004] Therefore, there is an urgent need for a method to suppress motion sickness in order to reduce the incidence of motion sickness among vehicle occupants. Summary of the Invention

[0005] This application provides a method, electronic device, storage medium, and program product for suppressing motion sickness in vehicles, in order to reduce the incidence of motion sickness among vehicle occupants.

[0006] In a first aspect, embodiments of this application provide a method for suppressing motion sickness, comprising:

[0007] Vehicle motion data is collected, and the motion trajectory of dynamic reference points is calculated based on the vehicle motion data; the dynamic reference points are used to map the vehicle's motion state to suppress motion sickness.

[0008] The motion trajectory of the dynamic reference point is rendered onto at least one display device of the vehicle.

[0009] In one possible embodiment, the vehicle motion data includes: three-axis acceleration data and three-axis angular velocity data;

[0010] The motion trajectory of the dynamic reference point is calculated based on vehicle motion data, including:

[0011] Kalman filtering was performed on the triaxial acceleration data and triaxial angular velocity data to obtain smooth acceleration and angular velocity sequences.

[0012] The coordinate system is transformed based on the acceleration sequence and the angular velocity sequence to obtain the mapping parameters in the display coordinate system; the mapping parameters include acceleration mapping parameters and angular velocity mapping parameters.

[0013] Motion component mapping is performed based on acceleration mapping parameters to obtain displacement components;

[0014] The rotational components are obtained by mapping the rotational components based on the angular velocity mapping parameters.

[0015] The displacement and rotation components are combined to obtain the motion trajectory of the dynamic reference point.

[0016] In one possible embodiment, the vehicle motion data further includes: vehicle speed data, gear data, steering angle data, and braking signal data; the method further includes:

[0017] The motion trajectory of the dynamic reference point is corrected based on at least one of the following: vehicle speed data, gear data, steering angle data, and braking signal data.

[0018] In one possible embodiment, rendering the motion trajectory of the dynamic reference point onto at least one display device of the vehicle includes:

[0019] Obtain the location information of each occupant in the vehicle;

[0020] Determine the device characteristics of the display device corresponding to the location information;

[0021] Determine the rendering rules for each display device based on its characteristics;

[0022] The motion trajectory of dynamic reference points is rendered to various display devices based on rendering rules.

[0023] In one possible embodiment, the device features include device type and device angle; the device type includes: head-up display system, augmented reality head-up display system, entertainment screen, smart window; the device angle is the angle between the occupant's line of sight when viewing the corresponding display device and the normal vector of the corresponding display device.

[0024] In one possible embodiment, the rendering rules include the display density of reference points, the display transparency of reference points, the motion sensitivity of reference points, and the motion trajectory deformation of reference points.

[0025] In one possible embodiment, the method further includes:

[0026] Obtain the motion sickness physiological indicators of the passengers and adjust the rendering rules accordingly.

[0027] In one possible embodiment, the vehicle motion data includes: three-axis attitude angle data; if the device type is an augmented reality head-up display system, the method further includes:

[0028] The system acquires the vehicle's navigation information and triggers and presents path prediction information based on this information. The path prediction information includes a virtual horizon. The virtual horizon is corrected based on three-axis attitude angle data before being presented.

[0029] In one possible embodiment, the method further includes:

[0030] If the vehicle is intended to turn, the vibration response of the occupant's seat on the corresponding side is controlled according to the turning intention, and / or the audio field adjustment of the occupant's spatial audio system is controlled to suppress motion sickness.

[0031] Secondly, embodiments of this application provide a device for suppressing motion sickness, comprising:

[0032] The data acquisition module is used to collect vehicle motion data and calculate the motion trajectory of dynamic reference points based on the vehicle motion data; the dynamic reference points are used to map the vehicle's motion state to suppress motion sickness.

[0033] The processing module is used to render the motion trajectory of the dynamic reference point to at least one display device of the vehicle.

[0034] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0035] The memory stores the instructions that the computer executes;

[0036] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0037] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0038] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0039] The vehicle motion sickness suppression method, electronic device, storage medium, and program product provided in this application collect vehicle motion data and calculate the motion trajectory of dynamic reference points based on the vehicle motion data. The dynamic reference points are used to map the vehicle's motion state to suppress vehicle motion sickness. The motion trajectory of the dynamic reference points is rendered onto at least one display device in the vehicle. Based on the motion state information during actual vehicle operation, a reference object capable of representing the vehicle's dynamic changes is constructed, and this reference object is combined with an in-vehicle display carrier. This allows occupants to obtain a dynamic visual reference corresponding to the vehicle's motion state during vehicle operation, thereby improving the consistency between occupant motion perception and actual vehicle motion, and reducing the incidence of motion sickness among vehicle occupants. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0041] Figure 1 Flowchart of the method for suppressing motion sickness provided in this application Figure 1 ;

[0042] Figure 2 Flowchart of the method for suppressing motion sickness provided in this application Figure 2 ;

[0043] Figure 3 Flowchart of the method for suppressing motion sickness provided in this application Figure 3

[0044] Figure 4 A schematic diagram of the structure of the motion sickness suppression device provided in this application;

[0045] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0046] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0048] The method for suppressing motion sickness provided in this application involves collecting vehicle motion data and calculating the motion trajectory of a dynamic reference point based on the vehicle motion data. The dynamic reference point is used to map the vehicle's motion state to suppress motion sickness. The motion trajectory of the dynamic reference point is rendered onto at least one display device in the vehicle. Based on the motion state information during actual vehicle operation, a reference object capable of representing the vehicle's dynamic changes is constructed, and this reference object is combined with an in-vehicle display carrier. This allows occupants to obtain a dynamic visual reference corresponding to the vehicle's motion state during vehicle operation, thereby improving the consistency between occupant motion perception and actual vehicle motion, and reducing the incidence of motion sickness among vehicle occupants.

[0049] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0050] Figure 1 Flowchart of the method for suppressing motion sickness provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0051] Step S101: Collect vehicle motion data and calculate the motion trajectory of the dynamic reference point based on the vehicle motion data.

[0052] Vehicle motion data is used to characterize the current motion state of the vehicle and serves as the data foundation for generating visual reference information. Specifically, it can be relevant data characterizing the vehicle's motion state. This application does not limit the process of collecting vehicle motion data; optionally, it can be directly extracted from the raw data of relevant sensors or control modules pre-installed in the vehicle.

[0053] Dynamic reference points are used to map the vehicle's motion state to suppress motion sickness. Specifically, dynamic reference points are visual objects used to map the vehicle's motion state. They are not fixed display elements, but rather display points calculated in real time based on vehicle motion data, including position changes, displacement direction, and trajectory shape. When displayed, a dynamic reference point can be a single point, a master point among multiple related points, or a continuously refreshed moving point along a trajectory. Its core function is to maintain a correspondence with the actual movement of the vehicle.

[0054] The motion trajectory of dynamic reference points refers to the continuously changing movement path of a set of dynamic reference points displayed on an in-vehicle display device. Specifically, the changes of dynamic reference points on the display interface can be determined based on vehicle motion data, and the motion trajectory of the dynamic reference points can be formed by sequentially processing the changes over time, so that the displayed content remains synchronized with changes in the vehicle's operating status.

[0055] Based on the above analysis, this step converts the vehicle's motion state into a visual reference trajectory by collecting vehicle motion data and calculating the trajectory, thereby establishing a correspondence between visual cues and vestibular perception, forming the input required for subsequent display steps.

[0056] Step S102: Render the motion trajectory of the dynamic reference point onto at least one display device of the vehicle.

[0057] In this system, at least one display device in the vehicle serves as a display carrier for the motion trajectory of the dynamic reference point, used to present the calculated motion trajectory to the occupants of the vehicle. Specifically, the display device can be at least one type of in-vehicle display device. The motion trajectory of the dynamic reference point can be rendered as continuously moving reference points on the display interface.

[0058] Specifically, after receiving the motion trajectory information of the dynamic reference point output in step S101, a corresponding frame image can be generated according to the refresh cycle of the display device to display the motion trajectory of the dynamic reference point on at least one display device. Based on the above analysis, this step transforms the calculated vehicle motion mapping result into continuously observable visual reference content and outputs it in real time on at least one display device inside the vehicle, enabling occupants to obtain visual references that change synchronously with the vehicle's motion during dynamic vehicle operation, thereby suppressing motion sickness.

[0059] Optionally, in the event of a malfunction in the vehicle motion data acquisition device, the display device can revert to its traditional display function.

[0060] The method for suppressing motion sickness provided in this application involves collecting vehicle motion data and calculating the motion trajectory of a dynamic reference point based on the vehicle motion data. The dynamic reference point is used to map the vehicle's motion state to suppress motion sickness. The motion trajectory of the dynamic reference point is rendered onto at least one display device in the vehicle. Based on the motion state information during actual vehicle operation, a reference object capable of representing the vehicle's dynamic changes is constructed, and this reference object is combined with an in-vehicle display carrier. This allows occupants to obtain a dynamic visual reference corresponding to the vehicle's motion state during vehicle operation, thereby improving the consistency between occupant motion perception and actual vehicle motion, and reducing the incidence of motion sickness among vehicle occupants.

[0061] Figure 2Flowchart of the method for suppressing motion sickness provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, the process of calculating the motion trajectory of dynamic reference points according to vehicle motion data is described in detail. The method includes:

[0062] Step S201: Perform Kalman filtering on the triaxial acceleration data and triaxial angular velocity data to obtain smooth acceleration and angular velocity sequences.

[0063] The vehicle motion data includes three-axis acceleration data and three-axis angular velocity data. Specifically, if the vehicle motion data includes three-axis acceleration data and three-axis angular velocity data, these can be directly obtained from the inertial measurement unit (IMU) pre-installed in the vehicle. The inertial measurement unit is a multi-sensor integrated module installed in the vehicle, and its core function is to collect raw motion and attitude data of the vehicle body in three-dimensional space in real time.

[0064] Specifically, after acquiring triaxial acceleration and triaxial angular velocity data, in order to suppress data jitter caused by inherent high-frequency noise of the sensor, vehicle body vibration, and electromagnetic interference, and to avoid problems such as flickering and abrupt jumps of the dynamic reference point, which would exacerbate visual fatigue and motion sickness, Kalman filtering can be performed on the triaxial acceleration and triaxial angular velocity data to obtain smooth acceleration and angular velocity sequences.

[0065] For example, the raw triaxial acceleration data (ax, ay, az) and triaxial angular velocity data (ωx, ωy, ωz) are processed by Kalman filtering to remove sensor inherent noise and vehicle body vibration interference, and output time-aligned smooth acceleration and smooth angular velocity sequences.

[0066] Step S202: Perform coordinate system transformation based on the acceleration sequence and angular velocity sequence to obtain the mapping parameters in the display coordinate system.

[0067] The mapping parameters include acceleration mapping parameters and angular velocity mapping parameters;

[0068] Specifically, the acceleration and angular velocity vectors in the smoothed vehicle coordinate system can be transformed into mapping parameters for the display device in the display coordinate system. These mapping parameters are divided into two categories: acceleration mapping parameters and angular velocity mapping parameters. The acceleration mapping parameters are the three-axis acceleration components in the display coordinate system, and the angular velocity mapping parameters are the three-axis angular velocity components in the display coordinate system.

[0069] For example, the acceleration mapping parameters are (a'x, a'y, a'z), and the angular velocity mapping parameters are (ω'x, ω'y, ω'z).

[0070] Step S203: Perform motion component mapping processing based on acceleration mapping parameters to obtain displacement components.

[0071] Specifically, after performing coordinate system transformation based on the acceleration sequence and angular velocity sequence to obtain the mapping parameters in the display coordinate system, motion component mapping can be performed based on the acceleration mapping parameters to obtain the displacement component.

[0072] The displacement components include: lateral displacement component ΔX, longitudinal displacement component ΔY, and vertical displacement component ΔZ, where ΔX = k1 × a'x, ΔY = k2 × a'y, and ΔZ = k3 × a'z. k1, k2, and k3 are adaptive gain coefficients, dynamically adjusted according to vehicle speed and the degree of motion sickness.

[0073] Step S204: Perform rotation component mapping processing based on angular velocity mapping parameters to obtain rotation components.

[0074] Specifically, after performing coordinate system transformation based on the acceleration sequence and angular velocity sequence to obtain the mapping parameters in the display coordinate system, rotation component mapping can be performed based on the angular velocity mapping parameters to obtain the rotation component.

[0075] The rotation components include: a lateral rotation component θ, a longitudinal rotation component φ, and a vertical rotation component β, where θ = k4 × ω'x, φ = k5 × ω'y, and β = k6 × ω'z. k4, k5, and k6 are rotational gain coefficients, dynamically adjusted according to vehicle speed and the degree of motion sickness.

[0076] Step S205: Perform trajectory synthesis processing on the displacement component and rotation component to obtain the motion trajectory of the dynamic reference point.

[0077] Specifically, after the displacement and rotation components are mapped, they can be synthesized to obtain the motion trajectory of the dynamic reference point. During synthesis, the displacement and rotation components can be superimposed on the same time base to generate a trajectory sequence, which is then output to a display device.

[0078] The instantaneous trajectory is represented as (x(t), y(t), z(t)).

[0079] Optionally, after obtaining the motion trajectory of the dynamic reference point, the synthesized initial motion trajectory can be low-pass filtered to eliminate high-frequency jitter remaining in the trajectory, so as to ensure the visual smoothness of the image and output the final motion trajectory of the dynamic reference point.

[0080] The process of calculating the motion trajectory of a dynamic reference point based on vehicle motion data provided in this application embodiment involves filtering, coordinate transformation, and component mapping of three-axis acceleration and angular velocity data. This allows both translational and rotational motions of the vehicle to be converted into trajectory expressions in the display coordinate system. The trajectory is then synthesized to obtain a dynamic reference point trajectory synchronized with the vehicle's motion. This trajectory directly reflects changes in vehicle acceleration, deceleration, and steering, thus providing continuous visual reference information for occupants. With this method, the consistency between the dynamic reference point and the vehicle's actual motion is high, and the displayed content is more suitable for continuous rendering in in-vehicle scenarios, thereby reducing the incidence of motion sickness among vehicle occupants.

[0081] In one possible embodiment, the vehicle motion data further includes: vehicle speed data, gear data, steering angle data, and braking signal data; the method for suppressing vehicle motion sickness further includes:

[0082] The motion trajectory of the dynamic reference point is corrected based on at least one of the following: vehicle speed data, gear data, steering angle data, and braking signal data.

[0083] If the vehicle motion data also includes vehicle speed data, gear data, steering angle data, and braking signal data, then these can be obtained directly from the vehicle's CAN bus.

[0084] Specifically, this application does not limit the process of correcting the motion trajectory of a dynamic reference point based on at least one of vehicle speed data, gear data, steering angle data, and braking signal data. Optionally, a pre-built motion trajectory correction model can be used. This model takes a base trajectory as input and adjusts the displacement amplitude and update frequency of the dynamic reference point when the vehicle speed data changes; that is, it adjusts the motion sensitivity of the dynamic reference point. For example, when the vehicle speed increases, the motion sensitivity is reduced to avoid visual overload, and when the vehicle speed decreases, the motion sensitivity is increased to enhance perception. When the gear data represents reverse or forward gear, the motion direction of the reference point is adapted. When the steering angle data increases, the lateral offset, rotation angle, or curvature of the trajectory is corrected. When the braking signal data is triggered, the forward thrust, deceleration coefficient, or time sampling interval of the trajectory is adjusted. These corrections can be performed individually or jointly on multiple data sets to output an updated dynamic reference point trajectory, which is then rendered onto at least one display device of the vehicle.

[0085] Specifically, dynamic reference points no longer rely solely on basic motion data for generation, but can be corrected by incorporating at least one of vehicle speed, gear, steering angle, and braking signals. The trajectory expression responds more promptly to changes in vehicle dynamics, and the displayed content is more synchronized with the vehicle's movement, thereby enhancing the guidance effect on occupants' motion perception and reducing the incidence of motion sickness among vehicle occupants.

[0086] Figure 3 Flowchart of the method for suppressing motion sickness provided in this application Figure 3 ,like Figure 3 As shown, in this embodiment... Figure 1 or Figure 2 Based on the embodiments, the process of rendering the motion trajectory of dynamic reference points onto at least one display device of the vehicle is described in detail, the method including:

[0087] Step S301: Obtain the location information of each occupant in the vehicle.

[0088] The occupant position information refers to the information about the seat position of the occupants. This includes the following positions: driver's seat, front passenger seat, rear left seat, rear middle seat, and rear right seat.

[0089] Optionally, the location information of each occupant in the vehicle can be obtained based on devices such as seat sensors or cameras pre-installed inside the vehicle.

[0090] Step S302: Determine the device characteristics of the display device corresponding to the location information.

[0091] Specifically, after obtaining the location information of each occupant in the vehicle, the device characteristics of the display devices corresponding to that location information can be determined. If there are occupants in every location in the vehicle, the motion trajectory of the dynamic reference points needs to be rendered onto each display device in the vehicle; therefore, the device characteristics of all display devices must be determined. If there are only occupants in some locations in the vehicle, only the motion trajectory of the dynamic reference points needs to be rendered onto the display devices corresponding to those occupants; therefore, the device characteristics of only the display devices corresponding to those locations can be determined. For example, if there is only an occupant in the driver's seat, then only the device characteristics of the display device corresponding to the driver's seat need to be determined.

[0092] Among them, device characteristics refer to the characteristic parameters related to the process of rendering the motion trajectory of dynamic reference points.

[0093] In one possible embodiment, the device features include device type and device angle; the device type includes: head-up display system, augmented reality head-up display system, entertainment screen, smart window; the device angle is the angle between the occupant's line of sight when viewing the corresponding display device and the normal vector of the corresponding display device.

[0094] Specifically, for head-up display systems, the display area can be located at the lower edge of the windshield or above the driver's field of vision; for augmented reality head-up display systems, the display area is spatially aligned with the image of the environment in front of the vehicle; for entertainment screens, the display area can consist of a central control screen, a rear entertainment screen, or a headrest screen; for smart windows, the display area can be located in the visible light-transmitting area of ​​the side windows or rear windows.

[0095] Specifically, after obtaining the occupant's location information, the display device corresponding to the location information can be marked as the target device, and the device type of the target device can be read. Optionally, the display device closest to the occupant's seat can be determined as the display device corresponding to the location information. Alternatively, the display device that provides the best effect in suppressing motion sickness for the occupant from their seat can also be determined as the display device corresponding to the location information. The device type can be determined by a pre-written device configuration table, which records parameters such as the display device category and device angle corresponding to different seats.

[0096] The device angle is the angle between the occupant's line of sight when viewing the corresponding display device and the normal vector of the corresponding display device. Optionally, the device angle can be calculated from the occupant's line of sight when viewing the corresponding display device and the normal vector of the display panel.

[0097] Specifically, by limiting the display devices by device type and device angle, the reference trajectory can be matched with the category and angle of each display device, thereby improving the consistency of motion reference information received by occupants in different seats and reducing the incidence of motion sickness among vehicle occupants.

[0098] Step S303: Determine the rendering rules for each display device based on the device characteristics.

[0099] Rendering rules refer to a standardized and adaptive set of visual output control logic when a display device renders the motion trajectory of a dynamic reference point. Therefore, after determining the device characteristics of the display device corresponding to the position information, the rendering rules for each display device can be determined based on these characteristics.

[0100] In one possible embodiment, the rendering rules further include the display density of reference points, the display transparency of reference points, the motion sensitivity of reference points, and the motion trajectory deformation of reference points.

[0101] Specifically, display density controls the number of dynamic reference points per unit area; appropriately increasing display density can improve motion sickness suppression. Display transparency refers to the transparency of dynamic reference points, used to control visual intensity; appropriately decreasing display transparency can improve motion sickness suppression. For example, for large-sized displays at close range, a higher display density and lower display transparency can be used; for small-sized displays at long range, a lower display density and higher display transparency can be used.

[0102] Specifically, motion sensitivity is used to control the degree to which the motion trajectory of the dynamic reference point follows the changes in the vehicle body. When the sensitivity is too low, the suppression effect is weak, close to no intervention. When the sensitivity is in the moderate range, the perception matching degree is the highest and the suppression effect is the best. When the sensitivity is too high, it will exacerbate the perception conflict and aggravate motion sickness.

[0103] Specifically, motion trajectory deformation is a parameter used to perform geometric perspective correction on the motion trajectory of a dynamic reference point in scenarios where there is an angle between the display device and the occupant's line of sight. Its core function is to correct visual motion distortion caused by viewing angle deviation, ensuring that the trajectory motion perceived by the occupant is consistent with the direction, proportion, and tactile sensation of the vehicle's actual movement. When the deformation is less than the correction amount required for the line of sight angle, the suppression effect is weak; when the deformation is equal to the correction amount required for the line of sight angle, the suppression effect is optimal; and when the deformation exceeds the correction amount required for the line of sight angle, it exacerbates motion sickness.

[0104] Specifically, by limiting the rendering rules to four parameters—the display density of reference points, the display transparency of reference points, the motion sensitivity of reference points, and the motion trajectory deformation of reference points—the display intensity, response intensity, and trajectory shape of dynamic reference points can be independently adjusted. This allows for adaptation to the viewing conditions of different display devices such as head-up displays, entertainment screens, and smart windows, thereby improving the correspondence between dynamic reference information and the actual motion state of the vehicle and enhancing the stability of visual references received by occupants in different seats, thus reducing the incidence of motion sickness among vehicle occupants.

[0105] Optionally, during the process of generating corresponding rendering rules based on device characteristics, the generated rendering rules can be fine-tuned according to the location information of the display device. For example, after determining the display density of the display device on the driver's side, its parameters can be appropriately reduced to prioritize the visibility of driving information.

[0106] Step S304: Render the motion trajectory of the dynamic reference points to each display device based on the rendering rules.

[0107] Specifically, after acquiring the device characteristics of each display device, the system can draw and update dynamic reference points according to display density, display transparency, motion sensitivity, and motion trajectory deformation. Display density controls the number of reference points, display transparency controls visual intensity, motion sensitivity controls the degree to which the trajectory follows changes in the vehicle body, and motion trajectory deformation controls the geometric adaptation relationship of the trajectory at different display positions, thereby enabling the reference points to form a consistent and distinguishable motion reference on different in-vehicle display devices.

[0108] The process provided in this application for rendering the motion trajectory of a dynamic reference point onto at least one display device in a vehicle involves obtaining occupant position information and generating differentiated rendering rules based on display device characteristics. This allows the dynamic reference point to be presented on different display devices in a manner adapted to the occupant's position and viewing conditions, thereby maintaining a correspondence between the trajectory display and the spatial distribution within the vehicle and improving the consistency of visual reference information received by occupants in different seats. Furthermore, because the trajectory rendering method adjusts according to device characteristics, the displayed content can maintain recognizability and continuity under different device characteristics, thereby enhancing the expressive effect of the dynamic reference point on the vehicle's motion state and reducing the incidence of motion sickness among vehicle occupants.

[0109] Optionally, during the calculation of the motion trajectory deformation at the reference point, since the display device is not directly in front of the occupant, the angle θ between the occupant's line of sight when viewing the corresponding display device and the normal vector of the corresponding display device can be used. view The motion trajectory of the dynamic reference point is adapted and adjusted. When the angle is small, the occupant is almost facing the display device directly, and the motion trajectory of the dynamic reference point can be maintained in a standard mapping, that is, the deformation of the motion trajectory of the reference point is zero. When the angle is large, a perspective transformation is performed on the motion trajectory of the dynamic reference point, multiplying the lateral motion component by cos(θ). view The longitudinal motion component remains unchanged, and the shape of the reference point trajectory is adjusted from a circle to an ellipse, with the major axis along the line of sight.

[0110] Optionally, during the trajectory rendering process based on the motion trajectory deformation of the reference point, a motion amplitude compensation coefficient of the reference point can be added simultaneously to compensate for the weakening of motion perception caused by the viewpoint deviation, thereby improving the motion sickness suppression effect for rear passengers.

[0111] In one possible embodiment, the method for suppressing motion sickness further includes:

[0112] Obtain the motion sickness physiological indicators of the passengers and adjust the rendering rules accordingly.

[0113] Specifically, motion sickness physiological indicators are the physiological / behavioral characteristic parameters of the human body that are objectively collected and quantified by onboard sensors, such as infrared cameras and biosensor modules, when the human body experiences motion sickness reactions such as nausea, dizziness, etc.

[0114] Optionally, the system can collect passengers' motion sickness physiological indicators in real time, quantify and distinguish the level of motion sickness of passengers, such as mild / moderate / severe motion sickness, and adaptively adjust the rendering rules of the display device corresponding to the passenger in reverse, forming a closed-loop anti-motion sickness control logic of "vehicle motion rendering → human physiological feedback → adaptive correction of rendering parameters".

[0115] Specifically, after acquiring the passenger's motion sickness physiological indicators, the system can compare these indicators with preset thresholds or grading intervals, and adaptively update the rendering rules based on the comparison results. For example, when the motion sickness physiological indicators indicate that the passenger's discomfort level is increasing, the system increases the display transparency of dynamic reference points, making the superposition relationship between reference information and the background image clearer, and simultaneously adjusts the display density to increase the continuity of reference point appearance; when the motion sickness physiological indicators indicate that the passenger is in a mild discomfort state, the system reduces the variation amplitude of reference points, reduces their motion sensitivity, and makes the trajectory of reference points correspond more smoothly to the vehicle's movement; when the motion sickness physiological indicators reflect that the passenger is more sensitive to visual stimuli, the system can also reduce trajectory deformation, keeping the motion trajectory of reference points within a more stable range.

[0116] Specifically, by acquiring and adjusting the physiological indicators of motion sickness in passengers in real time, the display parameters of the reference points can be changed according to the changes in the passengers' state, so that the display content remains adaptable under different degrees of motion sickness. Since the rendering rules are no longer fixed, the dynamic reference points can reduce the additional visual stimulation to passengers while ensuring the motion correspondence, thereby improving the consistency between the in-vehicle reference information and the passengers' current feelings, and thus reducing the incidence of motion sickness among vehicle passengers.

[0117] Optionally, the system can record changes in motion sickness severity before and after the implementation of motion sickness suppression methods, establish personalized motion sickness profiles, and continuously optimize the rendering rules of the motion trajectory of dynamic reference points to improve the suppression effect of motion sickness.

[0118] In one possible embodiment, the vehicle motion data includes: three-axis attitude angle data; if the device type is an augmented reality head-up display system, the method for suppressing vehicle motion sickness further includes: acquiring the vehicle's navigation information, triggering and presenting path pre-aiming information based on the navigation information; wherein, the path pre-aiming information includes: a virtual horizon; the virtual horizon is corrected based on the three-axis attitude angle data before being presented.

[0119] Specifically, based on the description in the above embodiments, for the augmented reality head-up display system, its display area is spatially aligned with the image of the environment in front of the vehicle, that is, dynamic reference points are superimposed on the real road environment and presented as virtual markers anchored on the road surface.

[0120] Optionally, if the device type is an augmented reality head-up display system, in addition to the motion trajectory of the dynamic reference point, the display device can also render path preview information to improve the suppression of motion sickness.

[0121] Specifically, in actual implementation, after receiving navigation information, the system first determines whether to enter the path preview display state based on the navigation information and generates path preview information, including a virtual horizon. Subsequently, the system reads the current three-axis attitude angle data, calculates the deviation of the vehicle relative to the preset reference attitude, and converts this deviation into a display correction amount for the virtual horizon. This correction amount can be used to adjust the spatial position, rotation angle, and visual projection ratio of the virtual horizon, so that the virtual horizon maintains a correspondence with the actual attitude of the vehicle when displayed, thereby forming a preview visual reference consistent with changes in the road ahead.

[0122] Optionally, the path preview information may also include: path preview arrows, deceleration markers, etc.

[0123] Specifically, if the device type is an augmented reality head-up display system, path prediction information such as a virtual horizon can be rendered to improve the suppression of motion sickness. In particular, by combining three-axis attitude angle data for correction before presenting the virtual horizon, the system can synchronize the path prediction information with the vehicle's attitude state, thereby making the reference line in the augmented reality head-up display system consistent with the real road motion relationship, thus improving the suppression of motion sickness.

[0124] In one possible embodiment, based on the foregoing embodiments, the method for suppressing motion sickness further includes:

[0125] If the vehicle is intended to turn, the vibration response of the occupant's seat on the corresponding side is controlled according to the turning intention, and / or the audio field adjustment of the occupant's spatial audio system is controlled to suppress motion sickness.

[0126] Specifically, the motion trajectory mode based on the dynamic reference points rendered in the display device described in the above embodiments is a visual motion sickness suppression mode. Optionally, in addition to the visual motion sickness suppression mode described in the above embodiments, it may also include a tactile motion sickness suppression mode and / or an auditory motion sickness suppression mode.

[0127] The tactile motion sickness suppression mode refers to controlling the vibration response of the occupant's seat on the corresponding side according to the vehicle's steering intention, in order to suppress motion sickness. Specifically, before steering, the vibration unit of the seat on the side to be steered can be controlled to vibrate. For example, before steering to the left, the vibration unit of the left-side seat can be controlled to vibrate to help the passenger anticipate the direction of movement. The seat vibration units are pre-installed on both sides of each seat in the vehicle. Optionally, if the vehicle has a steering intention, the vibration unit on the corresponding side of the seat can initiate pulsed or continuous vibration, with the vibration frequency, amplitude, and duration correlated to the intensity of the steering intention. Optionally, if the seat vibration unit adopts a seat zoned vibration structure, the vibration unit can be arranged in the corresponding area near the occupant's buttocks, waist, or thighs, and connected to the seat frame via a fixed bracket. In practical applications, other models of vibration units can also be selected, and this application does not limit this.

[0128] The auditory motion sickness suppression mode refers to adjusting the audio sound field of the occupants' spatial audio system according to the vehicle's intended turn, in order to suppress motion sickness. Specifically, before turning, the audio sound field can be controlled to shift to the direction the vehicle is about to turn. For example, before turning to the left, the audio sound field is controlled to shift to the left, providing passengers with auditory motion reference. The audio sound field is controlled by the vehicle's multi-channel audio system, and an independent audio sound field can correspond to each occupant's position. Optionally, if the vehicle intends to turn, the audio processor adjusts the left and right channel gain, virtual sound source azimuth angle, or reverberation parameters according to the turning direction, causing the sound field to shift towards the turning side. This adjustment can be completed in conjunction with the vehicle's speaker array.

[0129] Specifically, tactile and / or auditory cues are provided to occupants in advance when the vehicle is about to turn, enabling them to form a consistent perception of the vehicle's movement trend. This, combined with the information displayed at the aforementioned dynamic reference points, enhances the predictability of the direction of movement. In particular, by linking the vibration response of the corresponding side of the seat with the audio sound field, the steering information can be output synchronously through different sensory channels, thereby improving the consistency of the occupants' recognition of the vehicle's steering and reducing the conflict between visual and vestibular perception caused by steering, thus reducing the incidence of motion sickness among vehicle occupants.

[0130] Optionally, if motion sickness is suppressed by at least two of the visual motion sickness suppression mode, tactile motion sickness suppression mode, and auditory motion sickness suppression mode, the output weights of each mode can be adjusted according to the occupant's motion sickness physiological indicators to reduce the incidence of motion sickness among vehicle occupants.

[0131] Optionally, if motion sickness is suppressed by at least two of the visual motion sickness suppression mode, tactile motion sickness suppression mode, and auditory motion sickness suppression mode, the changes in motion sickness intensity before and after the implementation of the motion sickness suppression method can be recorded, a personalized motion sickness feature profile can be established, and the output weights of each mode can be continuously optimized to improve the suppression effect of motion sickness.

[0132] Optionally, the activation and deactivation of each motion sickness suppression mode can be controlled by the occupant's activation and deactivation commands.

[0133] Figure 4 A schematic diagram of the structure of the motion sickness suppression device provided in this application is shown below. Figure 4 As shown, the motion sickness suppression device 40 provided in this embodiment includes:

[0134] The acquisition module 401 is used to acquire vehicle motion data and calculate the motion trajectory of dynamic reference points based on the vehicle motion data; wherein, the dynamic reference points are used to map the motion state of the vehicle to suppress motion sickness.

[0135] The processing module 402 is used to render the motion trajectory of the dynamic reference point to at least one display device of the vehicle.

[0136] The motion sickness suppression device provided in this embodiment can perform the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0137] Figure 5 A schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the electronic device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0138] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0139] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0140] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0141] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0142] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0143] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0144] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0145] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0146] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0147] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0148] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0149] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0150] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0151] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0152] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for suppressing motion sickness, characterized in that, include: Vehicle motion data is collected, and the motion trajectory of a dynamic reference point is calculated based on the vehicle motion data; wherein, the dynamic reference point is used to map the vehicle's motion state to suppress motion sickness. The motion trajectory of the dynamic reference point is rendered onto at least one display device of the vehicle.

2. The method according to claim 1, characterized in that, The vehicle motion data includes: three-axis acceleration data and three-axis angular velocity data; The step of calculating the motion trajectory of the dynamic reference point based on the vehicle motion data includes: The triaxial acceleration data and the triaxial angular velocity data are subjected to Kalman filtering to obtain smooth acceleration and angular velocity sequences. The coordinate system is transformed based on the acceleration sequence and the angular velocity sequence to obtain the mapping parameters in the display coordinate system; the mapping parameters include acceleration mapping parameters and angular velocity mapping parameters. Motion component mapping is performed based on the acceleration mapping parameters to obtain displacement components; The rotation component is obtained by performing rotation component mapping processing based on the angular velocity mapping parameters; The displacement component and the rotation component are combined to obtain the motion trajectory of the dynamic reference point.

3. The method according to claim 2, characterized in that, The vehicle motion data also includes: vehicle speed data, gear data, steering angle data, and braking signal data; the method further includes: The motion trajectory of the dynamic reference point is corrected based on at least one of the vehicle speed data, the gear data, the steering angle data, and the braking signal data.

4. The method according to claim 1, characterized in that, Rendering the motion trajectory of the dynamic reference point onto at least one display device of the vehicle includes: Obtain the location information of each occupant in the vehicle; Determine the device characteristics of the display device corresponding to the location information; The rendering rules for each of the display devices are determined based on the device characteristics. Based on the rendering rules, the motion trajectory of the dynamic reference point is rendered to each of the display devices.

5. The method according to claim 4, characterized in that, The device features include device type and device angle; the device type includes: head-up display system, augmented reality head-up display system, entertainment screen, smart window; the device angle is the angle between the occupant's line of sight when viewing the corresponding display device and the normal vector of the corresponding display device.

6. The method according to claim 4, characterized in that, The rendering rules include the display density of the reference point, the display transparency of the reference point, the motion sensitivity of the reference point, and the motion trajectory deformation of the reference point.

7. The method according to claim 4, characterized in that, The method further includes: Obtain the motion sickness physiological indicators of the passengers, and adjust the rendering rules according to the motion sickness physiological indicators.

8. The method according to claim 5, characterized in that, The vehicle motion data includes: three-axis attitude angle data; if the device type is the augmented reality head-up display system, the method further includes: The system acquires the vehicle's navigation information and triggers and presents path prediction information based on the navigation information; wherein the path prediction information includes a virtual horizon; the virtual horizon is corrected based on the three-axis attitude angle data before being presented.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: If the vehicle has a steering intention, the vibration response of the occupant's seat on the corresponding side is controlled according to the steering intention, and / or the audio sound field of the occupant's spatial audio system is adjusted to suppress motion sickness.

10. A device for suppressing motion sickness, characterized in that, include: The acquisition module is used to acquire vehicle motion data and calculate the motion trajectory of dynamic reference points based on the vehicle motion data; wherein, the dynamic reference points are used to map the vehicle's motion state to suppress motion sickness. The processing module is used to render the motion trajectory of the dynamic reference point onto at least one display device of the vehicle.

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