具有视觉垂直的主观垂直冲突模型：预测自主个人移动车辆上的运动病
Subjective Vertical Conflict Model with Visual Vertical: Predicting Motion Sickness on Autonomous Personal Mobility Vehicles
摘要：
3-5级自动驾驶个人移动车辆（APMV）的乘客可以在驾驶时执行非驾驶任务，例如阅读书籍和智能手机。有人指出，这种活动可能会增加晕动病，特别是在共用空间经常避开行人或障碍物时。许多研究已经进行，以建立对策，其中各种计算晕动病模型已经开发出来。其中，基于主观垂直冲突（SVC）理论的模型，该理论描述了人类感觉器官感觉到的方向的垂直变化与中枢神经系统所期望的那些，已经被积极地开发。然而，没有当前的计算模型可以整合视觉垂直信息与前庭感觉。我们提出了一个6自由度SVC-VV模型，该模型在传统的6自由度SVC模型中添加了一个视觉感知垂直块，以从模拟人类视觉输入的图像数据中预测视觉垂直方向。在驾驶实验中，27名参与者在两种视觉条件下体验了APMV：向前看（LAD）和使用平板设备（WAD）。通过模拟APMV频繁的行人避让场景，验证了乘客在乘坐APMV时会产生晕车症状，特别是在APMV上工作时症状更严重。此外，实验结果还表明，所提出的6自由度SVC-VV模型能够描述视觉垂直加速度和重力加速度方向不同时运动病的加重情况。
英文摘要：
Passengers of level 3-5 autonomous personal mobility vehicles (APMV) can perform non-driving tasks, such as reading books and smartphones, while driving. It has been pointed out that such activities may increase motion sickness, especially when frequently avoiding pedestrians or obstacles in shared spaces. Many studies have been conducted to build countermeasures, of which various computational motion sickness models have been developed. Among them, models based on subjective vertical conflict (SVC) theory, which describes vertical changes in direction sensed by human sensory organs v.s. those expected by the central nervous system, have been actively developed. However, no current computational model can integrate visual vertical information with vestibular sensations. We proposed a 6 DoF SVC-VV model which added a visually perceived vertical block into a conventional 6 DoF SVC model to predict visual vertical directions from image data simulating the visual input of a human. In a driving experiment, 27 participants experienced an APMV with two visual conditions: looking ahead (LAD) and working with a tablet device (WAD). We verified that passengers got motion sickness while riding the APMV, and the symptom were severer when especially working on it, by simulating the frequent pedestrian avoidance scenarios of the APMV in the experiment. In addition, the results of the experiment demonstrated that the proposed 6 DoF SVC-VV model could describe the increased motion sickness experienced when the visual vertical and gravitational acceleration directions were different.
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