System for controlling autonomous vehicle for reducing motion sickness

Patent metadata

Field	Value
Publication number	US-11738773-B2
Application number	US-202017025317-A
Country	US
Kind code	B2
Filing date	Sep 18, 2020
Priority date	Jul 2, 2020
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A system for controlling an autonomous vehicle is capable of predicting and eliminating a possibility of motion sickness before and during travelling of the autonomous vehicle. The system includes: a first control unit which compares a first vehicle motion sickness index that is determined by a travelling simulation with a first threshold set including passenger information before travelling and controls a boarding location of a passenger before travelling; and a second control unit which computes a passenger motion sickness index from passenger state information and vehicle state information detected during travelling, compares a second threshold indicating the degree of sensitivity to motion sickness according to passenger information during travelling with the passenger motion sickness index, and controls the autonomous vehicle so as to reduce or eliminate a generation of a motion sickness causing frequency.

First claim

What is claimed is:

1. A system for controlling an autonomous vehicle for reducing motion sickness, the system comprising:
a sensor unit configured to:
detect information about environments inside and outside the autonomous vehicle; and
recognize information about a passenger and information on behavior of the autonomous vehicle;

a cloud configured to store the information collected by the sensor unit;
a motion sickness control preliminary determining unit configured to:
receive the information about the passenger before travelling; and
determine whether to control motion sickness before travelling in advance by using the information about the passenger before travelling;

a first threshold setting unit configured to:
set a first threshold indicating the level of sensitivity to the occurrence of the motion sickness of the passenger according to the passenger information before travelling; and
store the first threshold in the cloud;

a first vehicle motion sickness index estimating unit configured to:
receive information about a target route from a departure point to a destination before travelling;
perform a travelling simulation according to the target route; and
estimate a first vehicle motion sickness index, wherein the first vehicle motion sickness index is defined as motion sickness causing energy generated by behavior of the autonomous vehicle while the travelling simulation is performed;

a first comparing unit configured to:
compare the first vehicle motion sickness index with the first threshold;
determine as the occurrence of the motion sickness is not predicted when the first vehicle motion sickness index is smaller than the first threshold; and
determine as the occurrence of the motion sickness is predicted when the first vehicle motion sickness index is larger than the first threshold, so that the first comparing unit generates a guide signal so as to guide the passenger to board the autonomous vehicle in a forward-facing direction rather than reverse-facing direction with respect to a direction of travel of the autonomous vehicle;

a second threshold setting unit configured to set a second threshold indicating the degree of sensitivity to the occurrence of the motion sickness of the passenger according to the passenger information during the travelling;
a passenger motion sickness index calculating unit, configured to:
calculate a passenger state index, wherein the passenger state index is computed by summing the degree of the occurrence of the motion sickness and each passenger state information to which a weighted value is assigned, and then dividing the summed value by a travelling time up to the present time;
estimate a second vehicle motion sickness index defined as motion sickness causing energy generated by the behavior of the autonomous vehicle for the travelling time up to the present time; and
calculate a passenger motion sickness index quantifying the degree of occurrence of the motion sickness of the passenger during the travelling using the passenger state index and the second vehicle motion sickness index; and

a second comparing unit configured to:
compare the second vehicle motion sickness index with the second threshold;
determine as the occurrence of the motion sickness does not occur when the second vehicle motion sickness index is smaller than the second threshold, so that it is not necessary to control the behavior of the autonomous vehicle; and
determine as the occurrence of the motion sickness occurs when the second vehicle motion sickness index is larger than the second threshold, so that the second comparing unit is to control the behavior of the autonomous vehicle to reduce or eliminate the occurrence of a frequency of shaking or vibration of the autonomous vehicle causing the motion sickness.

2. The system of claim 1 , wherein the passenger information before the travelling includes boarding location information of the passenger or vehicle movement prediction information of the passenger.

3. The system of claim 1 , wherein:
the first vehicle motion sickness index estimating unit is configured to collect a vehicle data and analyze the vehicle data, and
the vehicle data includes at least one of translational motion data in an X-axis direction of the autonomous vehicle, translational motion data in a Y-axis direction of the autonomous vehicle, translational motion data in a Z-axis direction of the autonomous vehicle, rotational motion data around the X-axis of the autonomous vehicle, rotational motion data around the Y-axis of the autonomous vehicle, or rotational motion data around the Z-axis of the autonomous vehicle.

4. The system of claim 1 , wherein a degree of the body change of the passenger is divided into n stages.

5. The system of claim 1 , wherein the passenger information during the travelling includes boarding location information of the passenger or vehicle movement prediction information of the passenger.

6. The system of claim 1 , wherein the second comparing unit is configured to:
calculate an expected route as a vehicle route for X time after the present time;
estimate a third vehicle motion sickness index defined as motion sickness causing energy generated by the behavior of the autonomous vehicle at each speed of the autonomous vehicle which is travelling the expected route while changing the speed of the autonomous vehicle; and
control the autonomous vehicle to travel at a speed having the smallest third vehicle motion sickness index among the third vehicle motion sickness indexes estimated in the respective speeds.

7. The system of claim 1 , wherein:
when the travelling of the autonomous vehicle is terminated, the passenger motion sickness index is transmitted to the cloud, and
the cloud is configured to store the passenger motion sickness index.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Yeom Myung-Ki
• Kim In-Su

Classifications

• B60W60/0013 Primary

  specially adapted for occupant comfort · CPC title

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W40/08

  related to drivers or passengers · CPC title

• B60W2040/0872

  Driver physiology · CPC title

• B60W2540/22

  Psychological state; Stress level or workload · CPC title