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A few practical suggestions spring to mind. If you need glasses, wear them. Similarly, books with larger and easier to read print are likely to be less aggravating. Experiment with facing different directions and places on the vehicle and see what works best for you. If you don't want to take medication, I've found ginger really helps as an antiemetic.
The nausea, in my experience, is actually caused by trying to hold the book too steady. Your inner ear feels your body moving, but you're focused on a book you're doing your best to hold still. It's these mixed signals that make you feel sick. Personally I relax my hands and arms so the book moves along with any bumps or swaying.