Sleep-aiding control method and device of vehicle intelligent suspension, vehicle and medium

Abstract

The invention relates to the technical field of vehicles, in particular to a sleep-aiding control method and device for a vehicle intelligent suspension, a vehicle and a medium, and the method comprises the steps that after an intelligent suspension sleep-aiding control function awakening instruction is received, initial position information and environment information of the current vehicle are obtained; according to the environment information of the current vehicle, whether the current vehicle meets a preset environment condition or not is judged, if the current vehicle meets the preset environment condition, the current vehicle is controlled to enter an intelligent suspension sleep-aiding control function for sleep-aiding control, and new position information of the current vehicle is obtained; and based on the initial position information of the current vehicle, when the new position information of the current vehicle meets a preset position correction condition, correcting the position of the current vehicle. Therefore, the problem that in the prior art, a sleep aiding function developed based on an active suspension is lacked is solved, and safe and comfortable sleep aiding experience is provided for a user through intelligent actuation of the suspension.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a sleep-aid control method, device, vehicle, and medium for a vehicle intelligent suspension. Background Art

[0002] In the field of intelligent suspension control technology, several well-known automakers have adopted motor-driven active suspension technology, developing features that can rapidly lift one side or the entire vehicle in the event of an unavoidable side collision, as well as height-adjusting functions that adjust the vehicle's height based on speed. Other automakers have also developed various features based on air suspension technology, such as automatic height adjustment to facilitate luggage handling. However, there are no examples of active suspensions, especially fast active suspensions, being developed to provide a sleep-inducing function.

[0003] In related technologies, such as the patent "CN112706707A" discloses a rhythmic chassis and its rhythmic control method. The technical solution includes a chassis body, a central control processor, a sound recognition sensor and a rhythmic execution system, and based on this, the car is "danced" controlled.

[0004] However, while related technologies have proposed the idea of ​​achieving vehicle motion through suspension movement, the use of air springs as a power source limits the suspension's actuation capacity, making it difficult to achieve high-amplitude and relatively high-frequency suspension movement. Furthermore, this technical solution primarily focuses on achieving a "dancing" effect, lacking consideration for specific user needs (such as sleep aid) and the design of control strategies, which urgently need to be addressed. Summary of the Invention

[0005] The present application provides a sleep-aid control method, device, vehicle, and medium for a vehicle intelligent suspension to address the problem of the lack of sleep-aid functions developed based on active suspension in the prior art, and provides users with a safe and comfortable sleep-aid experience through the intelligent actuation of the suspension.

[0006] A first embodiment of the present application provides a sleep-aid control method for a vehicle intelligent suspension, comprising the following steps:

[0007] After receiving the wake-up command of the intelligent suspension sleep aid control function, the initial position information and environmental information of the current vehicle are obtained;

[0008] determining whether the current vehicle meets a preset environmental condition based on the environmental information of the current vehicle; if the current vehicle meets the preset environmental condition, controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, and obtaining new position information of the current vehicle;

[0009] Based on the initial position information of the current vehicle, when the new position information of the current vehicle meets a preset position correction condition, the position of the current vehicle is corrected.

[0010] According to one embodiment of the present application, controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control includes:

[0011] Determining whether the intelligent suspension sleep aid control function is in the default control mode;

[0012] If the intelligent suspension sleep-aid control function is in the default control mode, performing sleep-aid control on the current vehicle based on preset control parameters;

[0013] Among them, the preset control parameters include at least one of the front axle lifting height parameter, rear axle lifting height parameter, front axle and rear axle lifting frequency parameter, driving torque change parameter over time, driving torque direction parameter, braking force change parameter over time, audio system volume parameter and playback start and stop parameter of the current vehicle.

[0014] According to one embodiment of the present application, after determining whether the intelligent suspension sleep aid control function is in the default control mode, the method further includes:

[0015] If the intelligent suspension sleep-aid control function is in a custom control mode, the sleep-aid control is performed on the current vehicle based on the user-defined control parameters;

[0016] Among them, the user-defined control parameters include at least one of the user-defined front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque change parameters over time, driving torque direction parameters, braking force change parameters over time, audio system volume parameters and playback start and stop parameters.

[0017] According to one embodiment of the present application, the correcting the position of the current vehicle based on the initial position information of the current vehicle when the new position information of the current vehicle meets a preset position correction condition includes:

[0018] Determining whether a difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to a preset threshold;

[0019] If the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to the preset threshold, the position of the current vehicle is corrected based on the preset wheel angle change parameter until the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold.

[0020] According to one embodiment of the present application, after controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, the method further includes:

[0021] Acquiring new environmental information of the current vehicle, status of in-vehicle sensors of the current vehicle, on / off status of the suspension sleep-aid control function, and on-time of the suspension sleep-aid control function;

[0022] If the new environmental information does not meet the preset environmental conditions, or the in-vehicle sensor status is in the preset state, or the suspension sleep aid control function is in the off state, or the suspension sleep aid control function is on for a duration greater than or equal to a preset duration, the current vehicle is controlled to exit the intelligent suspension sleep aid control function.

[0023] According to one embodiment of the present application, the environmental information of the current vehicle includes at least one of the longitudinal allowable space, lateral allowable space, vertical allowable space, number of surrounding moving targets, and frequency of the surrounding moving targets of the current vehicle.

[0024] According to one embodiment of the present application, determining whether the current vehicle meets a preset environmental condition based on the environmental information of the current vehicle includes:

[0025] Determining whether the number of surrounding moving targets within the longitudinal permissible space, the lateral permissible space, and the vertical permissible space of the current vehicle is a preset number, and whether the frequency of the surrounding moving targets is a preset frequency;

[0026] If the number of surrounding moving targets within the longitudinal permissible space, the lateral permissible space, and the vertical permissible space of the current vehicle is a preset number, and the frequency of surrounding moving targets is a preset frequency, it is determined whether the current vehicle meets a preset environmental condition.

[0027] According to the sleep-aid control method for a vehicle intelligent suspension provided in an embodiment of the present application, upon receiving a wake-up command for the intelligent suspension sleep-aid control function, the initial position information and environmental information of the current vehicle are obtained. When the current vehicle meets preset environmental conditions, the current vehicle is controlled to enter the intelligent suspension sleep-aid control function for sleep-aid control. When the current vehicle's new position information meets preset position correction conditions, the current vehicle's position is corrected. This solves the problem of the prior art lacking a sleep-aid function developed based on active suspension, and provides users with a safe and comfortable sleep-aid experience through the intelligent actuation of the suspension.

[0028] A second embodiment of the present application provides a sleep-aid control device for a vehicle intelligent suspension, comprising:

[0029] An acquisition module is used to obtain the initial position information and environmental information of the current vehicle after receiving the wake-up command of the intelligent suspension sleep aid control function;

[0030] a control module, configured to determine whether the current vehicle satisfies preset environmental conditions based on the current vehicle's environmental information; if so, control the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, and obtain new position information of the current vehicle;

[0031] The correction module is used to correct the position of the current vehicle based on the initial position information of the current vehicle when the new position information of the current vehicle meets a preset position correction condition.

[0032] According to one embodiment of the present application, the control module is configured to:

[0033] Determining whether the intelligent suspension sleep aid control function is in the default control mode;

[0034] If the intelligent suspension sleep-aid control function is in the default control mode, performing sleep-aid control on the current vehicle based on preset control parameters;

[0035] Among them, the preset control parameters include at least one of the front axle lifting height parameter, rear axle lifting height parameter, front axle and rear axle lifting frequency parameter, driving torque change parameter over time, driving torque direction parameter, braking force change parameter over time, audio system volume parameter and playback start and stop parameter of the current vehicle.

[0036] According to one embodiment of the present application, after determining whether the intelligent suspension sleep aid control function is in the default control mode, the control module is further configured to:

[0037] If the intelligent suspension sleep-aid control function is in a custom control mode, the sleep-aid control is performed on the current vehicle based on the user-defined control parameters;

[0038] Among them, the user-defined control parameters include at least one of the user-defined front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque change parameters over time, driving torque direction parameters, braking force change parameters over time, audio system volume parameters and playback start and stop parameters.

[0039] According to one embodiment of the present application, the correction module is used to:

[0040] Determining whether a difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to a preset threshold;

[0041] If the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to the preset threshold, the position of the current vehicle is corrected based on the preset wheel angle change parameter until the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold.

[0042] According to one embodiment of the present application, after controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, the control module is further configured to:

[0043] Acquiring new environmental information of the current vehicle, status of in-vehicle sensors of the current vehicle, on / off status of the suspension sleep-aid control function, and on-time of the suspension sleep-aid control function;

[0044] If the new environmental information does not meet the preset environmental conditions, or the in-vehicle sensor status is in the preset state, or the suspension sleep aid control function is in the off state, or the suspension sleep aid control function is on for a duration greater than or equal to a preset duration, the current vehicle is controlled to exit the intelligent suspension sleep aid control function.

[0045] According to one embodiment of the present application, the environmental information of the current vehicle includes at least one of the longitudinal allowable space, lateral allowable space, vertical allowable space, number of surrounding moving targets, and frequency of the surrounding moving targets of the current vehicle.

[0046] According to one embodiment of the present application, the control module is configured to:

[0047] Determining whether the number of surrounding moving targets within the longitudinal permissible space, the lateral permissible space, and the vertical permissible space of the current vehicle is a preset number, and whether the frequency of the surrounding moving targets is a preset frequency;

[0048] If the number of surrounding moving targets within the longitudinal permissible space, the lateral permissible space, and the vertical permissible space of the current vehicle is a preset number, and the frequency of surrounding moving targets is a preset frequency, it is determined whether the current vehicle meets a preset environmental condition.

[0049] According to the sleep-aid control device for a vehicle intelligent suspension provided in an embodiment of the present application, upon receiving a wake-up command for the intelligent suspension sleep-aid control function, the device obtains the initial position information and environmental information of the current vehicle. When the current vehicle meets preset environmental conditions, the device controls the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control. Furthermore, when the current vehicle's new position information meets preset position correction conditions, the device corrects the current vehicle's position. This solves the problem of the prior art lacking a sleep-aid function based on active suspension development, and provides users with a safe and comfortable sleep-aid experience through the intelligent actuation of the suspension.

[0050] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the sleep-aid control method for the vehicle intelligent suspension as described in the above embodiment.

[0051] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the sleep-aid control method of the vehicle intelligent suspension as described in the above embodiment.

[0052] Beneficial effects of this application:

[0053] (1) Health. This application is based on an intelligent suspension system, which provides users with a sleep-aiding function and a novel experience in the vehicle that helps them fall asleep and improves their sleep quality. It also provides users with health function services in the vehicle and expands the application scenarios of smart cars.

[0054] (2) Safety. The activation and deactivation of the intelligent suspension sleep aid control function has been fully ensured to ensure that safety risks during the implementation of this function are minimized.

[0055] (3) Peace of mind. Users can enjoy the smart suspension sleep-aid function without worrying about safety risks or how to turn off the function after falling asleep.

[0056] (4) Fun. Users can define the execution parameters of the cradle mode themselves, and can also choose the customized control strategy of the cradle mode recommended by friends or created by netizens. This makes the smart suspension sleep aid function no longer monotonous and helps find a sleep aid function that is more suitable for helping them fall asleep and improve their sleep quality.

[0057] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0059] Figure 1 This is a flow chart of a sleep-aid control method for a vehicle intelligent suspension according to an embodiment of the present application;

[0060] Figure 2 is a schematic diagram of a "ship-shaped" motion trajectory according to an embodiment of the present application;

[0061] Figure 3 is a schematic diagram of a "swing" motion trajectory according to one embodiment of the present application;

[0062] Figure 4 This is a flowchart of a sleep-aid control method for a vehicle intelligent suspension according to one embodiment of the present application;

[0063] Figure 5 Schematic diagram of a sleep aid control device for a vehicle intelligent suspension according to an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0066] The following describes the sleep-aid control method, device, vehicle and medium of the vehicle intelligent suspension according to the embodiment of the present application with reference to the accompanying drawings. In response to the problem of the lack of sleep-aid functions developed based on active suspension mentioned in the above background technology, the present application provides a sleep-aid control method of a vehicle intelligent suspension. In this method, after receiving the wake-up instruction of the intelligent suspension sleep-aid control function, the initial position information and environmental information of the current vehicle are obtained. When the current vehicle meets the preset environmental conditions, the current vehicle is controlled to enter the intelligent suspension sleep-aid control function for sleep-aid control, and when the new position information of the current vehicle meets the preset position correction conditions, the position of the current vehicle is corrected. Thus, the problem of the lack of sleep-aid functions developed based on active suspension in the prior art is solved, and a safe and comfortable sleep-aid experience is provided to users through the intelligent actuation of the suspension.

[0067] Specifically, Figure 1 This is a flow chart of a sleep-aid control method for a vehicle intelligent suspension provided in an embodiment of the present application.

[0068] In this embodiment, the intelligent suspension should be equipped with an active suspension, particularly a fast active suspension configuration that uses a motor system as a power source and achieves real-time adjustment of the suspension's vertical force through a hydraulic or mechanical system. Vehicles equipped with the intelligent suspension should have interconnected actuators such as drive-by-wire, brake-by-wire, and steer-by-wire, as well as environmental sensing devices such as 360-degree cameras, lidar, millimeter-wave radar, ultrasonic radar, or a 5G vehicle-road collaborative network. Furthermore, they should have passenger status sensing devices such as cabin cameras or infrared cameras.

[0069] The following introduces a sleep-aiding control method for a vehicle intelligent suspension based on the above-mentioned intelligent suspension, actuator device and environmental perception device.

[0070] like Figure 1 As shown, the sleep-aiding control method of the vehicle intelligent suspension includes the following steps:

[0071] In step S101, after receiving the intelligent suspension sleep aid control function wake-up instruction, the initial position information and environmental information of the current vehicle are obtained.

[0072] In some embodiments, the environmental information of the current vehicle includes at least one of the longitudinal allowable space, lateral allowable space, vertical allowable space, number of surrounding moving targets, and frequency of surrounding moving targets of the current vehicle. The longitudinal allowable space refers to the allowable space / distance in the forward or reverse direction of the current vehicle. The longitudinal allowable space can be within the range of the longitudinal movement range of the current vehicle plus the sum of the front preset safety distance and the rear preset safety distance when the intelligent suspension sleep aid control function is activated. The longitudinal movement range of the current vehicle, the front preset safety distance, and the rear preset safety distance can all be values ​​pre-calibrated by those skilled in the art based on actual conditions and are not specifically limited here.

[0073] The lateral allowable space refers to the allowable space / distance in the left and right directions of the current vehicle. The lateral allowable space can be within the range of the current vehicle width and the sum of the left preset safety distance and the right preset safety distance when the intelligent suspension sleep aid control function is activated. Among them, the current vehicle width can be a value obtained through actual measurement, and the left preset safety distance and the right preset safety distance can both be values ​​pre-calibrated by technical personnel in this field according to actual conditions, and are not specifically limited here.

[0074] The vertical allowable space refers to the upper and lower limit ranges of the vertical movement of the current vehicle body when the intelligent suspension sleep aid control function is activated. It can be a range pre-calibrated by technical personnel in this field and is not specifically limited here.

[0075] The embodiment of the present application takes into account that the software switch conforms to the habit of most users to operate the various function switches of the car, and the voice switch is more intelligent and convenient. It also takes into account that the intelligent suspension sleep-aid control function is more timely and reliable to be directly triggered by the hardware switch through an electrical signal. Therefore, the wake-up instruction of the intelligent suspension sleep-aid control function of the embodiment of the present application can be implemented by a software switch or a hardware switch. Among them, the software switch can be an in-vehicle HMI (Human Machine Interface) switch, a software signal triggered by a physical switch or voice; and the hardware switch directly triggers the control strategy through an electrical signal. It should be noted that the relationship between the software switch and the hardware switch in the embodiment of the present application can be an XOR relationship, which can realize a relationship of mutual redundancy of functions. The XOR result serves as a trigger condition for waking up the intelligent suspension sleep-aid control function, that is, the triggering of one of the software switch and the hardware switch can serve as a condition for waking up the intelligent suspension sleep-aid control function.

[0076] Furthermore, the embodiments of the present application can obtain the initial position information and surrounding environment signals of the current vehicle through the 360° camera, lidar, millimeter wave radar or ultrasonic radar installed on the current vehicle, and obtain the surrounding environment information of the current vehicle through the fusion of the surrounding environment signals.

[0077] In step S102, it is determined whether the current vehicle meets the preset environmental conditions based on the current vehicle's environmental information. If the current vehicle meets the preset environmental conditions, the current vehicle is controlled to enter the intelligent suspension sleep aid control function for sleep aid control, and the new position information of the current vehicle is obtained.

[0078] Among them, in some embodiments, whether the current vehicle meets the preset environmental conditions is determined based on the environmental information of the current vehicle, including: determining whether the number of surrounding moving targets in the longitudinal allowable space, lateral allowable space and vertical allowable space of the current vehicle are all preset numbers, and whether the frequency of surrounding moving targets is the preset frequency; if the number of surrounding moving targets in the longitudinal allowable space, lateral allowable space and vertical allowable space of the current vehicle are all preset numbers, and the frequency of surrounding moving targets is the preset frequency, then determine whether the current vehicle meets the preset environmental conditions.

[0079] Optionally, the preset number may be 0, and the preset frequency may be that the surrounding moving targets will not enter the longitudinal allowable space, lateral allowable space and vertical allowable space of the current vehicle within a preset time period, which is not specifically limited here.

[0080] For example, the embodiment of the present application can determine whether the number of surrounding moving targets within the longitudinal permissible space, lateral permissible space, and vertical permissible space of the current vehicle is 0 based on the acquired surrounding environment information of the current vehicle, that is, there are no obstacles within the permissible space of the current vehicle, and determine whether the surrounding moving targets will not enter the permissible space of the current vehicle within a preset time period based on the speed and motion trajectory of the surrounding moving targets. If there are no obstacles within the permissible space of the current vehicle and the surrounding moving targets will not enter the permissible space of the current vehicle within a preset time period, it means that the environment of the current vehicle is in a safe state, that is, it is determined that the current vehicle meets the preset environmental conditions, and the current vehicle is controlled to execute the cradle mode control strategy, that is, the intelligent suspension sleep aid control function of the current vehicle is controlled to perform sleep aid control. In addition, if the current vehicle meets the preset environmental conditions, the intelligent suspension sleep aid control function will not be allowed to be awakened.

[0081] Furthermore, in some embodiments, controlling the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control includes: determining whether the intelligent suspension sleep aid control function is the default control mode; if the intelligent suspension sleep aid control function is the default control mode, performing sleep aid control on the current vehicle based on preset control parameters; wherein the preset control parameters include the front axle lifting height parameter H1, the rear axle lifting height parameter H2, the front axle and rear axle lifting frequency parameter f, the driving torque Td time-varying parameter (related to the vehicle's front axle and rear axle lifting frequency parameter f), the driving torque direction parameter (related to the vehicle's front axle and rear axle lifting frequency parameter f), the braking force Fb time-varying parameter (related to the vehicle's front axle and rear axle lifting frequency parameter f), the audio system volume parameter, and at least one of the playback start and stop parameters.

[0082] It should be noted that the embodiment of the present application enters the corresponding sleep aid control mode according to the option of the software virtual switch or hardware switch, or according to the control mode entered last time, or through the custom mode control strategy option pushed by the circle of friends or provided by the user co-creation platform.

[0083] Specifically, if the vehicle's intelligent suspension sleep-aid function is in the default control mode, the intelligent suspension system follows the default control program and parameters, raising and lowering the front and rear axles according to preset frequency and travel characteristics. Combined with the drive-by-wire and braking systems, the system moves the vehicle forward and backward within a short distance, simulating a "cradle" function and enhancing the intelligent suspension sleep-aid function experience. Additionally, the vehicle's audio system can play lullabies at a low volume, soft tone, and gentle tempo.

[0084] In order to help those skilled in the art understand the default control mode of the embodiment of the present application more clearly and intuitively, two typical cradle mode motion trajectories and their parameters, namely the "boat-type" cradle mode and the "swing-type" cradle mode, are listed here.

[0085] First, the "boat-shaped" cradle mode is introduced. The "boat-shaped" cradle mode of the embodiment of the present application is as follows Figure 2 As shown, the "boat-shaped" motion trajectory parameters include the front axle lifting motion parameter H1 and the rear axle lifting motion parameter H2 controlled by the active suspension actuation, and the vehicle longitudinal motion parameter D controlled by the wire-controlled drive system and the braking system.

[0086] Furthermore, the front axle lift parameter H1 and the rear axle lift parameter H2 are equal, satisfying the equation H1 = H2 = h0 * sin(w1 * t - π / 2), where h0 is the vertical lift / lower distance of the suspension, w1 is the vertical motion angular frequency, and t is the motion duration. The vehicle's longitudinal motion parameter D is calculated as D = D0 * sin(w2 * t), where w1 = w2 = 2πf, w2 is the longitudinal motion angular frequency, and D0 is the amplitude of the vehicle's fore-aft motion. This setting can be adjusted based on user preference.

[0087] It should be noted that the above-mentioned suspension front axle lifting motion parameter H1 and the suspension rear axle lifting motion parameter H2 are realized by controlling the output torque or main force of the intelligent suspension actuation system; the above-mentioned vehicle longitudinal motion parameter D is coordinated by the wire-controlled drive torque Td and the wire-controlled power Fb.

[0088] The motion trajectory parameters of the above "boat-shaped" cradle mode are that the center of mass of the vehicle body reciprocates according to the sine curve y=h0*sin(D0 / π*x-π / 2), x∈[-D0,D0]. The front and rear suspension motion parameters are the same, the vehicle body is in linear motion without flipping, and the motion frequency F=w1 / 4π (calculated based on completing one reciprocating motion).

[0089] Secondly, the "swing type" cradle mode is introduced. The "swing type" cradle mode of the embodiment of the present application is as follows Figure 3 As shown, the "swing-type" motion trajectory parameters include the front axle lifting motion parameter H1 and the rear axle lifting motion parameter H2 controlled by the active suspension actuation, and the vehicle longitudinal motion parameter D controlled by the wire-controlled drive system and the braking system.

[0090] Furthermore, the suspension's front axle lift and lowering parameters, H1, and rear axle lift and lowering parameters, H2, satisfy the equation H1 = -H2 = h0 * sin(w1 * t), where h0 is the vertical lift / lowering distance of the suspension, w1 is the vertical motion angular frequency, and t is the motion duration. The vehicle's longitudinal motion parameter, D, is calculated as D = D0 * sin(w2 * t), where w1 = w2 = 2πf, w2 is the longitudinal motion angular frequency, and D0 is the amplitude of the vehicle's fore-aft motion. This setting can be adjusted based on user preference.

[0091] It should be noted that the above-mentioned suspension front axle lifting motion parameter H1 and the suspension rear axle lifting motion parameter H2 are realized by controlling the output torque or main force of the intelligent suspension actuation system; the above-mentioned vehicle longitudinal motion parameter D is coordinated by the wire-controlled drive torque Td and the wire-controlled power Fb.

[0092] The motion trajectory parameters of the above "swing type" cradle mode are as follows: Figure 3 The trajectory shown reciprocates, and the phase difference between the front and rear suspension motions causes the vehicle body to pitch, which, coupled with the longitudinal motion, creates a swing-like motion trajectory. The motion frequency F = w1 / 4π (calculated based on completing one reciprocating motion).

[0093] Furthermore, in some embodiments, after determining whether the intelligent suspension sleep aid control function is the default control mode, it also includes: if the intelligent suspension sleep aid control function is the custom control mode, then the current vehicle is subjected to sleep aid control based on the user-defined control parameters; wherein the user-defined control parameters include at least one of the user-defined front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque variation parameters over time, driving torque direction parameters, braking force variation parameters over time, audio system volume parameters and playback start and stop parameters.

[0094] Specifically, if the intelligent suspension's sleep-aid control function is in custom control mode, the intelligent suspension system simulates a "cradle function" according to the custom control program and parameters. In custom control mode, the lifting frequency and travel parameters of the vehicle's front and rear axles are customized, as are whether the drive-by-wire and braking systems are integrated to coordinate the vehicle's short-range forward and backward movement and the distance of movement. The content played by the car's audio system is also customized, and whether these customized parameters change over time is also customized. Furthermore, users can use fuzzy semantics to access customized control strategies for cradle mode recommended by their friends or created by others.

[0095] For example, the program and parameters of the custom control strategy of the embodiment of the present application can be customized by the user as follows:

[0096] (1) Whether the lifting function of the front and rear axles of the current vehicle controlled by the intelligent suspension system is enabled (start / stop control parameters), the current vehicle front axle lifting height (travel) parameter H1, the rear axle lifting height parameter H2, and the current vehicle front and rear axle lifting frequency (or time-varying parameter f);

[0097] (2) Whether the vehicle is currently using the forward and backward movement function (start / stop control parameter), the time-varying parameter Td of the drive torque controlled by the drive-by-wire system (related to the current vehicle front and rear axle lifting and lowering frequency parameters), and the drive torque direction parameter;

[0098] (3) The time-varying parameter Fb of the braking force controlled by the brake-by-wire system (related to the current vehicle front and rear axle lifting and lowering frequency parameters);

[0099] (4) Whether the current vehicle audio system is enabled (start / stop control parameters), system volume parameters, and audio content preferences based on fuzzy semantic understanding;

[0100] (5) Whether to enable the function of custom parameters changing over time (start / stop control parameters) and the parameters of custom parameters changing over time.

[0101] Therefore, the intelligent suspension sleep-aid control function of the embodiment of the present application includes a default control mode and a custom control mode, which can provide users with different experience options and increase freshness; and can optimize the sleep-aid function according to individual differences, to achieve a sleep-aid function that varies from person to person and is more suitable for each individual.

[0102] In step S103 , based on the initial position information of the current vehicle, when the new position information of the current vehicle meets a preset position correction condition, the position of the current vehicle is corrected.

[0103] Specifically, after the intelligent suspension sleep-aid function is turned on, in order to simulate the cradle movement characteristics, the current vehicle will move forward and backward within a limited longitudinal range. When the current vehicle is on a lateral slope, the vehicle's wheel load is unevenly distributed, or the left and right road adhesions are different, the repeated forward and backward movement of the vehicle may cause lateral deviation of the vehicle's position. Therefore, it is necessary to combine the lateral correction function implemented by the wire-controlled steering system to complete the vehicle's lateral position correction to ensure that the vehicle remains within a safe space after the intelligent suspension sleep-aid function is turned on. When the repeated forward and backward movement of the vehicle does not cause lateral deviation of the vehicle's position, the lateral correction function will not be enabled.

[0104] Furthermore, in some embodiments, based on the initial position information of the current vehicle, when the new position information of the current vehicle meets the preset position correction condition, the position of the current vehicle is corrected, including: determining whether the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to a preset threshold; if the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to the preset threshold, then correcting the position of the current vehicle based on the preset wheel angle change parameter until the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold.

[0105] The preset threshold may be a threshold pre-set by those skilled in the art and is not specifically limited here.

[0106] It is understandable that in order to ensure the safety of users, when the intelligent suspension sleep aid control function is turned on and the sleep aid is performed based on the default control mode or the custom control mode, the car may move forward and backward within a short distance and lateral deviation may occur. If the current position of the vehicle deviates, the vehicle position needs to be corrected through the correction function.

[0107] Specifically, the embodiment of the present application can be based on a 360° camera, supplemented by environmental perception devices such as laser radar, millimeter wave radar, and ultrasonic radar, to monitor in real time whether the difference between the new position information of the current vehicle and the initial position information of the current vehicle under the sleep-aiding control function of the intelligent suspension is greater than or equal to a preset threshold, that is, whether the distance of the lateral deviation of the entire vehicle from the initial position during the forward and backward movement of the current vehicle exceeds the allowable range of lateral deviation. If it is identified that the lateral deviation distance exceeds the allowable range of lateral deviation, the lateral position correction is performed during the forward and backward movement of the current vehicle through the intervention of the wire steering system (which can be executed according to the wheel angle change parameters preset by the program) until the lateral deviation is less than the preset threshold, and the wire steering stops intervening, thereby ensuring that the vehicle position deviation can be laterally corrected and maintained within the design range. In addition, if the current vehicle does not exceed the allowable range of lateral deviation during multiple forward and backward movements, that is, whether the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold, there is no need to intervene in the lateral correction function to correct the position of the current vehicle.

[0108] Furthermore, in some embodiments, after controlling the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, it also includes: obtaining new environmental information of the current vehicle, the current vehicle's in-vehicle sensor status, the on and off status of the suspension sleep aid control function, and the activation duration of the suspension sleep aid control function; if the new environmental information does not meet the preset environmental conditions, or the in-vehicle sensor status is in the preset state, or the suspension sleep aid control function is in the off state, or the activation duration of the suspension sleep aid control function is greater than or equal to the preset duration, then the current vehicle is controlled to exit the intelligent suspension sleep aid control function.

[0109] Optionally, in the embodiment of the present application, the activation time of the suspension sleep aid control function can be obtained through a timer, which is not specifically limited here.

[0110] Specifically, when a user is drowsy or asleep, regardless of whether it is due to energy-saving needs or changes in environmental safety, the user should not be allowed to actively trigger the exit function, which would affect the user's sleep quality. Therefore, the embodiment of the present application can obtain new environmental information about the current vehicle based on information from environmental sensing devices such as vehicle-road cooperative network equipment, 360-degree cameras, lidar, millimeter-wave radar, or ultrasonic radar. When the intelligent suspension control system determines that the new environmental information does not meet the preset environmental conditions, it indicates that the current vehicle environment is unsafe, and automatically and safely exits the intelligent suspension sleep-aid control function.

[0111] Furthermore, when the user actively controls to exit the intelligent suspension sleep aid control function, such as by exiting the intelligent suspension sleep aid control function through a software switch or a hardware switch, the current vehicle is controlled to exit the intelligent suspension sleep aid control function.

[0112] Furthermore, in order to prevent the intelligent suspension sleep aid control function from running for a long time and causing unnecessary energy consumption, the embodiment of the present application automatically exits the intelligent suspension sleep aid control function when the suspension sleep aid control function is turned on for a period of time greater than or equal to a preset period of time (such as 30 minutes).

[0113] Furthermore, the embodiments of the present application can also use a variety of sensors to comprehensively determine whether the passenger has fallen asleep peacefully, such as using an infrared camera to monitor the passenger's eye activities, facial expressions and head posture, and using a sound sensor to monitor the sound inside the car, and using a seat pressure sensor to monitor the changes in the pressure distribution of the passenger on the seat. The data from the above-mentioned multiple sensors are integrated and comprehensively analyzed to determine whether the user has fallen asleep peacefully. When it is determined that the passenger has fallen asleep peacefully, the intelligent suspension sleep aid control function exits.

[0114] In order to facilitate those skilled in the art to more clearly and intuitively understand the sleep-aiding control method of the vehicle intelligent suspension proposed in this application, the following is combined with Figure 4 Provide detailed explanation.

[0115] like Figure 4 As shown, the sleep-aiding control method of the vehicle intelligent suspension includes the following steps:

[0116] S401, start.

[0117] S402, determining whether to wake up the intelligent sleep aid control function, if yes, executing S403, otherwise executing S401.

[0118] S403: Receive a wake-up instruction of the intelligent sleep aid control function.

[0119] S404, determine whether the current vehicle meets the environmental safety conditions, if yes, execute S405, otherwise, execute S403.

[0120] S405, enter the intelligent sleep aid control function.

[0121] S406, determining whether the intelligent sleep aid control function is in the default control mode, if yes, executing S407, otherwise executing S408.

[0122] S407, performing sleep aid control based on the default control mode.

[0123] S408, performing sleep aid control based on the customized control mode.

[0124] S409, determine whether lateral correction is required, if yes, execute S410, otherwise execute S409.

[0125] S410, enter the lateral correction function.

[0126] S411, determine whether the lateral correction is completed, if so, execute S409, otherwise, execute S410.

[0127] S412, determining whether it is necessary to exit the intelligent sleep aid control function, if yes, executing S413, otherwise executing S407 or S408.

[0128] S413, end.

[0129] Therefore, after triggering the suspension's sleep-aid control function, the intelligent suspension actuators and the vehicle's drive and brake actuators execute programed motion instructions according to pre-set control parameters, provided the intelligent suspension control system determines the environment is safe. Simultaneously, the vehicle's steer-by-wire system can be combined to maintain the vehicle's position within a certain range. If the intelligent suspension control system determines the environment no longer meets safety requirements, the user controls the function's exit, the function's activation time exceeds a preset time, or in-vehicle sensors determine a passenger has peacefully fallen asleep, the intelligent suspension's sleep-aid control function exits, thereby assisting the user in falling asleep and improving sleep quality, offering a novel experience.

[0130] According to the sleep-aid control method for a vehicle intelligent suspension proposed in an embodiment of the present application, after receiving a wake-up command for the intelligent suspension sleep-aid control function, the initial position information and environmental information of the current vehicle are obtained. When the current vehicle meets preset environmental conditions, the current vehicle is controlled to enter the intelligent suspension sleep-aid control function for sleep-aid control. When the new position information of the current vehicle meets preset position correction conditions, the position of the current vehicle is corrected. This solves the problem of the lack of sleep-aid functions developed based on active suspension in the prior art. By obtaining information from the environmental sensing device and collaboratively controlling the vehicle's related actuator devices and environmental sensing devices, the user is provided with a sleep-aid function and a novel experience that assists in falling asleep and improves sleep quality while ensuring safety.

[0131] Next, the sleep-aid control device for the intelligent suspension of a vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0132] Figure 5 It is a block diagram of a sleep aid control device for a vehicle intelligent suspension according to an embodiment of the present application.

[0133] like Figure 5 As shown, the sleep aid control device 10 of the vehicle intelligent suspension includes: an acquisition module 100 , a control module 200 and a correction module 300 .

[0134] Among them, the acquisition module 100 is used to obtain the initial position information and environmental information of the current vehicle after receiving the wake-up command of the intelligent suspension sleep-aid control function; the control module 200 is used to determine whether the current vehicle meets the preset environmental conditions based on the environmental information of the current vehicle. If the current vehicle meets the preset environmental conditions, the current vehicle is controlled to enter the intelligent suspension sleep-aid control function for sleep-aid control and obtain the new position information of the current vehicle; the correction module 300 is used to correct the position of the current vehicle based on the initial position information of the current vehicle when the new position information of the current vehicle meets the preset position correction conditions.

[0135] Furthermore, in some embodiments, the control module 200 is used to: determine whether the intelligent suspension sleep aid control function is the default control mode; if the intelligent suspension sleep aid control function is the default control mode, perform sleep aid control on the current vehicle based on preset control parameters; wherein the preset control parameters include at least one of the front axle lifting height parameter, rear axle lifting height parameter, front axle and rear axle lifting frequency parameter, driving torque variation parameter over time, driving torque direction parameter, braking force variation parameter over time, audio system volume parameter and playback start and stop parameter of the current vehicle.

[0136] Furthermore, in some embodiments, after determining whether the intelligent suspension sleep-aid control function is the default control mode, the control module 200 is also used to: if the intelligent suspension sleep-aid control function is the custom control mode, then perform sleep-aid control on the current vehicle based on user-defined control parameters; wherein the user-defined control parameters include at least one of user-defined front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque time-varying parameters, driving torque direction parameters, braking force time-varying parameters, audio system volume parameters, and playback start-stop parameters.

[0137] Furthermore, in some embodiments, the correction module 300 is used to: determine whether the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to a preset threshold; if the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to the preset threshold, then correct the position of the current vehicle based on the preset wheel angle change parameter until the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold.

[0138] Furthermore, in some embodiments, after controlling the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, the control module 200 is also used to: obtain new environmental information of the current vehicle, the current vehicle's in-vehicle sensor status, the on / off status of the suspension sleep aid control function, and the activation duration of the suspension sleep aid control function; if the new environmental information does not meet the preset environmental conditions, or the in-vehicle sensor status is in the preset state, or the suspension sleep aid control function is in the off state, or the activation duration of the suspension sleep aid control function is greater than or equal to the preset duration, then control the current vehicle to exit the intelligent suspension sleep aid control function.

[0139] Furthermore, in some embodiments, the environmental information of the current vehicle includes at least one of the longitudinal allowable space, the lateral allowable space, the vertical allowable space, the number of surrounding moving targets, and the frequency of surrounding moving targets of the current vehicle.

[0140] Furthermore, in some embodiments, the control module 200 is used to: determine whether the number of surrounding moving targets in the longitudinal allowable space, lateral allowable space and vertical allowable space of the current vehicle is a preset number, and whether the frequency of surrounding moving targets is a preset frequency; if the number of surrounding moving targets in the longitudinal allowable space, lateral allowable space and vertical allowable space of the current vehicle is a preset number, and the frequency of surrounding moving targets is a preset frequency, then determine whether the current vehicle meets the preset environmental conditions.

[0141] It should be noted that the aforementioned explanation of the embodiment of the sleep-aiding control method of the vehicle intelligent suspension is also applicable to the sleep-aiding control device of the vehicle intelligent suspension of this embodiment, and will not be repeated here.

[0142] According to the sleep-aid control device for a vehicle intelligent suspension proposed in an embodiment of the present application, upon receiving a wake-up command for the intelligent suspension sleep-aid control function, the device obtains the initial position information and environmental information of the current vehicle. When the current vehicle meets preset environmental conditions, the device controls the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control. Furthermore, when the current vehicle's new position information meets preset position correction conditions, the device corrects the current vehicle's position. This solves the problem of the prior art lacking a sleep-aid function based on active suspension development, and provides users with a safe and comfortable sleep-aid experience through the intelligent actuation of the suspension.

[0143] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0144] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0145] When the processor 602 executes the program, the sleep-aiding control method for the vehicle intelligent suspension provided in the above embodiment is implemented.

[0146] Furthermore, the vehicle further comprises:

[0147] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0148] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0149] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0150] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0151] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0152] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0153] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned sleep-aid control method for the intelligent suspension of a vehicle.

[0154] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0155] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0156] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0157] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0158] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0159] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0160] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0161] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A sleep-aiding control method for a vehicle intelligent suspension, characterized in that: The following steps are involved: After receiving the wake-up command of the intelligent suspension sleep aid control function, the initial position information and environmental information of the current vehicle are obtained; Determining whether the current vehicle meets a preset environmental condition according to the environmental information of the current vehicle, and if the current vehicle meets the preset environmental condition, controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, and obtaining new position information of the current vehicle; Based on the initial position information of the current vehicle, when the new position information of the current vehicle meets a preset position correction condition, the position of the current vehicle is corrected.

2. The method according to claim 1, characterized in that The controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control includes: Determining whether the intelligent suspension sleep aid control function is a default control mode; If the intelligent suspension sleep-aiding control function is in the default control mode, the sleep-aiding control is performed on the current vehicle based on the preset control parameters; Among them, the preset control parameters include at least one of the front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque variation parameters over time, driving torque direction parameters, braking force variation parameters over time, audio system volume parameters and playback start and stop parameters of the current vehicle.

3. The method according to claim 2, characterized in that After determining whether the intelligent suspension sleep aid control function is the default control mode, the method further includes: If the intelligent suspension sleep-aiding control function is in a custom control mode, the sleep-aiding control is performed on the current vehicle based on the user-defined control parameters; Among them, the user-defined control parameters include at least one of the user-defined front axle lifting height parameters, rear axle lifting height parameters, front axle and rear axle lifting frequency parameters, driving torque variation parameters over time, driving torque direction parameters, braking force variation parameters over time, audio system volume parameters and playback start and stop parameters.

4. The method according to claim 1, characterized in that: The method of correcting the position of the current vehicle based on the initial position information of the current vehicle when the new position information of the current vehicle meets a preset position correction condition includes: Determining whether a difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to a preset threshold; If the difference between the new position information of the current vehicle and the initial position information of the current vehicle is greater than or equal to the preset threshold, the position of the current vehicle is corrected based on the preset wheel angle change parameter until the difference between the new position information of the current vehicle and the initial position information of the current vehicle is less than the preset threshold.

5. The method according to claim 1, characterized in that After controlling the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, the method further includes: Acquire new environmental information of the current vehicle, the status of the in-vehicle sensors of the current vehicle, the on / off status of the suspension sleep-aiding control function, and the on-time of the suspension sleep-aiding control function; If the new environmental information does not meet the preset environmental conditions, or the in-vehicle sensor state is in the preset state, or the suspension sleep aid control function is in the off state, or the activation time of the suspension sleep aid control function is greater than or equal to the preset time, the current vehicle is controlled to exit the intelligent suspension sleep aid control function.

6. The method according to claim 1, characterized in that The environmental information of the current vehicle includes at least one of the longitudinal allowable space, the lateral allowable space, the vertical allowable space, the number of surrounding moving targets and the frequency of the surrounding moving targets of the current vehicle.

7. The method according to claim 6, characterized in that The determining, based on the environmental information of the current vehicle, whether the current vehicle meets a preset environmental condition includes: Determining whether the number of surrounding moving targets in the longitudinal permissible space, the lateral permissible space, and the vertical permissible space of the current vehicle is a preset number, and whether the frequency of the surrounding moving targets is a preset frequency; If the number of surrounding moving targets within the longitudinal permissible space, the lateral permissible space and the vertical permissible space of the current vehicle is a preset number, and the frequency of surrounding moving targets is a preset frequency, it is determined whether the current vehicle meets the preset environmental conditions.

8. A sleep-aiding control device for a vehicle intelligent suspension, characterized in that: include: An acquisition module, used to acquire the initial position information and environmental information of the current vehicle after receiving the wake-up command of the intelligent suspension sleep aid control function; a control module, configured to determine whether the current vehicle meets a preset environmental condition according to the environmental information of the current vehicle, and if the current vehicle meets the preset environmental condition, control the current vehicle to enter the intelligent suspension sleep aid control function to perform sleep aid control, and obtain new position information of the current vehicle; The correction module is used to correct the position of the current vehicle based on the initial position information of the current vehicle when the new position information of the current vehicle meets the preset position correction condition.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the sleep aid control method for the vehicle intelligent suspension as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the sleep-aiding control method of the vehicle intelligent suspension as described in any one of claims 1 to 7.

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