Sleep-aid control methods, devices, vehicles and media for intelligent vehicle suspension

Abstract

This application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and medium for sleep-aid control of intelligent suspension in a vehicle. The method includes: upon receiving a wake-up command for the intelligent suspension sleep-aid control function, acquiring the initial position information and environmental information of the current vehicle; determining whether the current vehicle meets preset environmental conditions based on the current vehicle's environmental information; if the current vehicle meets the preset environmental conditions, controlling the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control, and acquiring the current vehicle's new position information; and based on the current vehicle's initial position information, correcting the current vehicle's position when the new position information of the current vehicle meets preset position correction conditions. This solves the problem of the lack of sleep-aid functions based on active suspension in the prior art, providing users with a safe and comfortable sleep-aid experience through the intelligent operation of the suspension.

Description

Technical Field

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

[0002] In the field of intelligent suspension control technology, many well-known automakers have adopted motor-driven active suspension technology, developing functions that can quickly raise one side or the entire vehicle body in the event of an unavoidable side collision, as well as height adjustment functions that can adjust the vehicle height according to different speeds. Other automakers have also developed various functions based on air suspension technology, such as automatically adjusting the vehicle height to facilitate the loading and unloading of luggage. However, there are no known cases of developing intelligent suspension sleep-aid functions based on active suspension, especially fast active suspension.

[0003] In related technologies, such as the rhythmic chassis and its rhythmic control method disclosed in patent CN112706707A, the technical solution includes a chassis body, a central control processor, a sound recognition sensor and a rhythmic execution system, and controls the car to "dance" based on this.

[0004] However, while related technologies propose the idea of ​​achieving car rhythm through suspension movement, the use of air springs as a power source limits the suspension's operational capability, making it difficult to achieve large-amplitude and relatively high-frequency suspension movements. 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] This application provides a sleep aid control method, device, vehicle, and medium for intelligent vehicle suspension, in order to solve the problem of the lack of sleep aid functions based on active suspension in the prior art, and to provide users with a safe and comfortable sleep aid experience through the intelligent operation of the suspension.

[0006] The first aspect of this application provides a sleep aid control method for a vehicle intelligent suspension, comprising the following steps:

[0007] Upon receiving the wake-up command for the intelligent suspension sleep aid control function, the system obtains the initial position information and environmental information of the current vehicle.

[0008] Based on the current vehicle's environmental information, determine whether the current vehicle meets the preset environmental conditions. If the current vehicle meets the preset environmental conditions, control the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, and obtain the current vehicle's new location information.

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

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

[0011] Determine 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, then the current vehicle will be controlled to sleep based on preset control parameters;

[0013] The preset control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, driving torque variation over time parameter, driving torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

[0014] According to one embodiment of this 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 a custom control mode, then the current vehicle will be controlled to induce sleep based on the user-defined control parameters;

[0016] The user-defined control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, drive torque variation over time parameter, drive torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

[0017] According to one embodiment of this application, the step 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 satisfies a preset position correction condition, includes:

[0018] Determine whether the difference between the new location information of the current vehicle and the initial location 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 parameters 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 this application, after controlling the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control, the method further includes:

[0021] 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 aid control function, and the on / off duration 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 a preset state, or the suspension sleep aid control function is in a closed 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.

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

[0024] According to one embodiment of this application, determining whether the current vehicle meets preset environmental conditions based on the current vehicle's environmental information includes:

[0025] Determine whether the number of surrounding moving targets in the longitudinal allowable space, the lateral allowable space and the vertical allowable space of the current vehicle are all preset numbers, and whether the frequency of the surrounding moving targets is a preset frequency;

[0026] If the number of surrounding moving targets in the longitudinal, lateral, and vertical permissible spaces of the current vehicle are all preset numbers, and the frequency of the surrounding moving targets is a preset frequency, then it is determined whether the current vehicle meets the preset environmental conditions.

[0027] According to the vehicle intelligent suspension sleep aid control method provided in this application embodiment, after receiving the intelligent suspension sleep aid control function wake-up command, 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. When the new position information of the current vehicle meets the preset position correction conditions, the position of the current vehicle is corrected. This solves the problem of the lack of sleep aid functions based on active suspension in the prior art, providing users with a safe and comfortable sleep aid experience through the intelligent operation of the suspension.

[0028] A second aspect of this application provides a sleep aid control device for a vehicle's intelligent suspension, comprising:

[0029] The acquisition module is 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;

[0030] The control module is used to determine 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 module controls the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control and obtains the current vehicle's new location information.

[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 the preset position correction conditions.

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

[0033] Determine 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, then the current vehicle will be controlled to sleep based on preset control parameters;

[0035] The preset control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, driving torque variation over time parameter, driving torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

[0036] According to one embodiment of this 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 a custom control mode, then the current vehicle will be controlled to induce sleep based on the user-defined control parameters;

[0038] The user-defined control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, drive torque variation over time parameter, drive torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

[0039] According to one embodiment of this application, the correction module is configured to:

[0040] Determine whether the difference between the new location information of the current vehicle and the initial location 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 parameters 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 this application, after controlling the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, the control module is further configured to:

[0043] 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 aid control function, and the on / off duration 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 a preset state, or the suspension sleep aid control function is in a closed 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.

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

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

[0047] Determine whether the number of surrounding moving targets in the longitudinal allowable space, the lateral allowable space and the vertical allowable space of the current vehicle are all preset numbers, and whether the frequency of the surrounding moving targets is a preset frequency;

[0048] If the number of surrounding moving targets in the longitudinal, lateral, and vertical permissible spaces of the current vehicle are all preset numbers, and the frequency of the surrounding moving targets is a preset frequency, then it is determined whether the current vehicle meets the preset environmental conditions.

[0049] The vehicle intelligent suspension sleep aid control device provided in this application embodiment, upon receiving a wake-up command for the intelligent suspension sleep aid control function, acquires the initial position information and environmental information of the current vehicle. When the current vehicle meets preset environmental conditions, it controls the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control. Furthermore, when the new position information of the current vehicle meets preset position correction conditions, it corrects the position of the current vehicle. This solves the problem of the lack of sleep aid functions based on active suspension in the prior art, providing users with a safe and comfortable sleep aid experience through the intelligent operation of the suspension.

[0050] A third aspect of this application provides a vehicle, including: 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 intelligent vehicle suspension as described in the above embodiments.

[0051] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the sleep-aid control method for vehicle intelligent suspension as described in the above embodiments.

[0052] The beneficial effects of this application are:

[0053] (1) Health. Based on the intelligent suspension system, this application provides users with sleep aid functions and novel experiences that help them fall asleep and improve sleep quality in the vehicle, and provides health function services to users in the vehicle, thus expanding the application scenarios of intelligent vehicles.

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

[0055] (3) Worry-free. Users can enjoy the intelligent suspension sleep aid function with peace of mind, 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, or choose the cradle mode recommended by friends or co-created by netizens to customize the control strategy, so that the intelligent suspension sleep aid function is no longer monotonous and boring, and helps to find a more suitable sleep aid function to help them fall asleep and improve 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. Attached Figure Description

[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 flowchart of a sleep-aid control method for a vehicle intelligent suspension according to an embodiment of this application;

[0060] Figure 2 This is a schematic diagram of the motion trajectory of a "ship-shaped" object according to one embodiment of this application;

[0061] Figure 3 This is a schematic diagram of the movement trajectory of a "swing" according to an embodiment of this application;

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

[0063] Figure 5 This is a block diagram of a sleep aid control device for a vehicle intelligent suspension according to an embodiment of this application;

[0064] Figure 6 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. Detailed Implementation

[0065] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0066] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and medium for sleep-aid control of a vehicle's intelligent suspension, representing an embodiment of this application. Addressing the lack of sleep-aid functions based on active suspension as mentioned in the background section, this application provides a sleep-aid control method for a vehicle's intelligent suspension. In this method, 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 acquired. When the current vehicle meets preset environmental conditions, the system controls the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control. Furthermore, 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 based on active suspension in the prior art, providing users with a safe and comfortable sleep-aid experience through the intelligent operation of the suspension.

[0067] Specifically, Figure 1 This is a flowchart illustrating a sleep-aid control method for a vehicle intelligent suspension provided in an embodiment of this application.

[0068] In this embodiment, the intelligent suspension should be equipped with an active suspension, particularly a fast active suspension configuration that uses an electric motor system as a power source and achieves real-time adjustment of the suspension 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 steering-by-wire; environmental perception devices such as 360° cameras, lidar, millimeter-wave radar, ultrasonic radar, or vehicle-to-everything (V2X) 5G networks; and passenger status perception devices such as passenger cabin cameras or infrared cameras.

[0069] The following describes a sleep-aid control method for vehicle intelligent suspension based on the aforementioned intelligent suspension, actuator device, and environmental sensing device.

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

[0071] In step S101, after receiving the wake-up command for the intelligent suspension sleep aid control function, 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 following: longitudinal permissible space, lateral permissible space, vertical permissible space, number of surrounding moving targets, and frequency of surrounding moving targets. The longitudinal permissible space refers to the permissible space / distance in the forward or backward direction of the current vehicle. The longitudinal permissible space can be the sum of the current vehicle's longitudinal movement range and the preset forward and rearward safety distances when the intelligent suspension sleep-aid control function is activated. The current vehicle's longitudinal movement range, the preset forward safety distance, and the preset rearward 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] Lateral permissible space refers to the permissible space / distance in the left and right directions of the current vehicle. The lateral permissible space can be the range of the sum of the current vehicle width and the preset safety distances on the left and right when the intelligent suspension sleep aid control function is activated. The current vehicle width can be a value obtained through actual measurement, and the preset safety distances on the left and right can be values ​​pre-calibrated by those skilled in the art based on actual conditions, without being specifically limited here.

[0074] The vertical allowable space refers to the upper and lower limits of the vehicle's vertical movement when the intelligent suspension sleep aid control function is activated. This can be a range pre-defined by those skilled in the art and is not specifically limited here.

[0075] This application embodiment considers that software switches conform to the operating habits of most users when operating various function switches in a car, and that voice switches are more intelligent and convenient. It also considers that directly triggering the intelligent suspension sleep-aid control function via electrical signals using a hardware switch is more timely and reliable. Therefore, the wake-up command for the intelligent suspension sleep-aid control function in this application embodiment can be implemented through either a software switch or a hardware switch. The software switch can be an in-vehicle HMI (Human Machine Interface) switch, a physical switch, or a software signal triggered by voice; while the hardware switch is a control strategy directly triggered by electrical signals. It should be noted that the relationship between the software switch and the hardware switch in this application embodiment can be an XOR relationship, achieving functional redundancy. The XOR result serves as the trigger condition for waking up the intelligent suspension sleep-aid control function; that is, triggering either the software switch or the hardware switch is sufficient to wake up the intelligent suspension sleep-aid control function.

[0076] Furthermore, in this embodiment of the application, the initial position information of the current vehicle and the surrounding environment signals can be obtained by using the 360° camera, lidar, millimeter-wave radar or ultrasonic radar installed on the current vehicle, and the surrounding environment information of the current vehicle can be obtained by fusing 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 location information of the current vehicle is obtained.

[0078] In some embodiments, determining whether the current vehicle meets preset environmental conditions based on the current vehicle's environmental information includes: determining whether the number of surrounding moving targets in the current vehicle's longitudinal, lateral, and vertical permitted spaces are all preset numbers, and whether the frequency of surrounding moving targets is a preset frequency; if the number of surrounding moving targets in the current vehicle's longitudinal, lateral, and vertical permitted spaces are all preset numbers, and the frequency of surrounding moving targets is a preset frequency, then determining whether the current vehicle meets the preset environmental conditions.

[0079] Optionally, the preset quantity can be 0, and the preset frequency can be the longitudinal, lateral, and vertical permissible spaces of the current vehicle that surrounding moving targets will not enter within a preset time period, without specific limitations.

[0080] For example, in this embodiment, the number of moving targets within the vehicle's longitudinal, lateral, and vertical permissible spaces can be determined based on the acquired information about the vehicle's surrounding environment. This means there are no obstacles within the vehicle's permissible space. Furthermore, the speed and trajectory of the moving targets are used to determine whether they will not enter the vehicle's permissible space within a preset time period. If there are no obstacles within the vehicle's permissible space and no moving targets enter within the preset time period, the vehicle's environment is considered safe. This indicates that the vehicle meets the preset environmental conditions, and the vehicle is controlled to execute a cradle mode control strategy, i.e., the intelligent suspension sleep aid control function is controlled to perform sleep aid control. Additionally, if the vehicle meets the preset environmental conditions, the intelligent suspension sleep aid control function will not be allowed to be activated.

[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, then performing sleep aid control on the current vehicle based on preset control parameters; wherein, the preset control parameters include at least one of the following: the front axle height parameter H1, the rear axle height parameter H2, the front and rear axle height frequency parameter f, the time-varying parameter of the drive torque Td (related to the vehicle's front and rear axle height frequency parameter f), the drive torque direction parameter (related to the vehicle's front and rear axle height frequency parameter f), the time-varying parameter of the braking force Fb (related to the vehicle's front and rear axle height frequency parameter f), the audio system volume parameter, and the playback start / stop parameter.

[0082] It should be noted that, in this application embodiment, the corresponding sleep aid control mode is entered based on the option of a software virtual switch or a hardware switch, or based on the control mode entered last time, or through the custom mode control strategy option provided by the WeChat Moments push or the user co-creation platform.

[0083] Specifically, if the vehicle is currently in the default control mode of the intelligent suspension sleep aid function, the intelligent suspension system controls the front and rear axles of the vehicle to move up and down according to preset frequency, travel, and other characteristics, based on the preset default control program and parameters. This, combined with the drive-by-wire and braking systems, facilitates short-range forward and backward movement of the vehicle, simulating a "cradle function" to enhance the user experience of the intelligent suspension sleep aid function. Furthermore, the vehicle's audio system can play soothing lullabies with low volume, soft tone, and gentle rhythm.

[0084] To help those skilled in the art to understand the default control modes of the embodiments of this application more clearly and intuitively, the motion trajectories and parameters of two typical cradle modes, namely the "boat-shaped" cradle mode and the "swing-shaped" cradle mode, are listed here.

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

[0086] Furthermore, the suspension front axle lifting motion parameter H1 is equal to the suspension rear axle lifting motion parameter H2, and satisfies H1=H2=h0*sin(w1*t-π / 2), where h0 is the vertical lifting / lowering distance of the suspension, w1 is the vertical motion angular frequency, and t is the motion time. The formula for calculating the vehicle's longitudinal motion parameter D is 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 front-to-rear motion, which can be adjusted according to user preferences.

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

[0088] The motion trajectory parameters of the above "boat-shaped" cradle mode are as follows: the center of mass of the vehicle body moves back and forth 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 translational motion and does not roll over. The motion frequency is F=w1 / 4π (calculated based on completing one reciprocating motion).

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

[0090] Furthermore, the suspension front axle lifting motion parameter H1 and the suspension rear axle lifting motion parameter H2 satisfy H1=-H2=h0*sin(w1*t), where h0 is the vertical lifting / lowering distance of the suspension, w1 is the vertical motion angular frequency, and t is the motion time. The formula for calculating the vehicle's longitudinal motion parameter D is 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 front-to-rear motion, which can be adjusted according to user preferences.

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

[0092] The above motion trajectory parameters for the "swing-type" cradle mode are based on the vehicle's center of gravity as follows: Figure 3 The trajectory shown reciprocates, and the phase difference between the front and rear suspension movements causes the vehicle body to pitch, coupled with longitudinal movement, forming a swing-like 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 in the default control mode, the method further includes: if the intelligent suspension sleep aid control function is in a custom control mode, then performing sleep aid control on the current vehicle based on user-defined control parameters; wherein, the user-defined control parameters include at least one of the following: user-defined front axle height adjustment parameters, rear axle height adjustment parameters, front and rear axle height adjustment frequency parameters, drive torque variation parameters over time, drive torque direction parameters, braking force variation parameters over time, audio system volume parameters, and playback start / stop parameters.

[0094] Specifically, if the intelligent suspension 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 front and rear axles of the current vehicle are customizable; whether to combine with drive-by-wire and braking systems to coordinate the car's forward and backward movement and distance within a short range are also customizable; the content played by the car audio system is customizable; and whether these custom parameters change over time is also customizable. In addition, users can also use fuzzy semantics to retrieve cradle modes recommended by friends or created by other users to customize the control strategy.

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

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

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

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

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

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

[0101] Therefore, the intelligent suspension sleep aid control function of this application embodiment includes a default control mode and a custom control mode, which can provide users with different experience options and increase novelty; and can optimize the sleep aid function according to individual differences, so as to realize a sleep aid function that is more suitable for each individual.

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

[0103] Specifically, when the intelligent suspension sleep aid function is activated, the vehicle will move back and forth within a limited longitudinal range to simulate cradle motion characteristics. When the vehicle is on a lateral slope, has uneven wheel load distribution, or different road surface adhesion on the left and right sides, repeated back and forth movements may cause lateral deviations in the vehicle's position. Therefore, the lateral correction function implemented by the steer-by-wire system is needed to correct the vehicle's lateral position, ensuring that the vehicle remains within a safe spatial range after the intelligent suspension sleep aid function is activated. When repeated back and forth movements do not cause lateral deviations in the vehicle's position, the lateral correction function is not activated.

[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 conditions, 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, the position of the current vehicle is corrected based on preset wheel angle change parameters 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 can be a threshold set in advance by those skilled in the art, and is not specifically limited here.

[0106] Understandably, to ensure user safety, when the intelligent suspension sleep aid control function is activated and the car is in sleep aid mode based on the default control mode or the custom control mode, the car may drift laterally when moving forward or backward within a short distance. If the current position of the vehicle deviates, the correction function will be used to correct the vehicle's position.

[0107] Specifically, this application embodiment can primarily use a 360° camera, supplemented by environmental perception devices such as LiDAR, millimeter-wave radar, and ultrasonic radar, to monitor in real time whether the difference between the vehicle's new position information and its initial position information is greater than or equal to a preset threshold under the intelligent suspension sleep-aid control function. That is, whether the lateral deviation of the vehicle from its initial position during forward and backward movement exceeds the allowable lateral deviation range. If the lateral deviation distance exceeds the allowable range, the steer-by-wire system intervenes to correct the lateral position during the vehicle's forward and backward movement (which can be performed according to the default preset wheel angle change parameters) until the lateral deviation is less than the preset threshold. At this point, the steer-by-wire system stops intervening, thus ensuring that the vehicle's position deviation can be laterally corrected and kept within the design range. Furthermore, if the vehicle's forward and backward movements do not exceed the allowable lateral deviation range (i.e., the difference between the vehicle's new position information and its initial position information is less than the preset threshold), then there is no need to intervene with the lateral correction function to correct the vehicle's position.

[0108] Furthermore, in some embodiments, after controlling the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, the method further includes: acquiring 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 aid control function, and the on-duty duration of the suspension sleep aid control function; if the new environmental information does not meet the preset environmental conditions, or the status of the in-vehicle sensors is in a preset state, or the suspension sleep aid control function is in a closed state, or the on-duty duration of the suspension sleep aid control function is greater than or equal to the preset duration, then controlling the current vehicle to exit the intelligent suspension sleep aid control function.

[0109] Optionally, the duration of the suspension sleep aid control function can be obtained by a timer in the embodiments of this application, which is not specifically limited here.

[0110] Specifically, when a user is drowsy or asleep, regardless of changes in energy-saving needs or environmental safety, the user should not be prompted to actively trigger the exit function, thereby affecting the user's sleep quality. Therefore, this application embodiment can obtain new environmental information about the current vehicle based on information from environmental perception devices such as vehicle-to-everything (V2X) network equipment, 360° 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 environment of the vehicle is unsafe and automatically and safely exits the intelligent suspension sleep aid control function.

[0111] Furthermore, when the user actively controls the exit of the intelligent suspension sleep aid control function, such as by using a software switch or a hardware switch, the current vehicle will exit the intelligent suspension sleep aid control function.

[0112] Furthermore, in order to prevent unnecessary energy consumption caused by the long-term operation of the intelligent suspension sleep aid control function, this embodiment of the application automatically exits the intelligent suspension sleep aid control function when the activation time of the suspension sleep aid control function is greater than or equal to the preset time (such as 30 minutes).

[0113] Furthermore, the embodiments of this application can also use multiple sensors to comprehensively determine whether the passenger has fallen asleep peacefully. For example, an infrared camera can be used to monitor the passenger's eye movements, facial expressions, and head posture, while a sound sensor can monitor the sound inside the vehicle, and a seat pressure sensor can monitor the changes in the pressure distribution of the passenger on the seat. The data from the above multiple sensors are fused and 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 is deactivated.

[0114] To facilitate a clearer and more intuitive understanding of the sleep-aid control method for vehicle intelligent suspension proposed in this application by those skilled in the art, the following is combined with... Figure 4 Please provide a detailed explanation.

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

[0116] S401, Begin.

[0117] S402, determine whether to activate the intelligent sleep aid control function. If yes, execute S403; otherwise, execute S401.

[0118] S403 receives the wake-up command for the intelligent sleep aid control function.

[0119] S404: Determine whether the current vehicle meets the environmental safety conditions. If yes, proceed to S405; otherwise, proceed to S403.

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

[0121] S406, determine whether the intelligent sleep aid control function is in the default control mode. If yes, execute S407; otherwise, execute S408.

[0122] S407 uses the default control mode for sleep aid control.

[0123] S408 provides sleep aid control based on a customizable control mode.

[0124] S409: Determine if lateral correction is needed. If yes, execute S410; otherwise, execute S409.

[0125] S410, enter lateral correction function.

[0126] S411, determine whether the lateral correction is complete. If yes, execute S409; otherwise, execute S410.

[0127] S412: Determine whether to exit the intelligent sleep aid control function. If yes, execute S413; otherwise, execute S407 or S408.

[0128] S413, End.

[0129] Therefore, by triggering the suspension sleep aid control function, and provided the intelligent suspension control system determines that the environment is safe, the various actuators of the intelligent suspension and the vehicle's drive and braking actuators execute action commands according to preset control parameters. Simultaneously, it can be combined with the vehicle's steer-by-wire system to maintain the vehicle's position within a certain range. When the intelligent suspension control system determines that the environment no longer meets safety conditions, the user exits the function, the function has been active for more than a preset time, or the in-vehicle sensors determine that the passenger has fallen asleep, the intelligent suspension sleep aid control function deactivates, thereby assisting the user in falling asleep and improving sleep quality, bringing a novel experience.

[0130] According to the sleep aid control method for intelligent vehicle suspension proposed in this application, after receiving the 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 the 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 the preset position correction conditions, the position of the current vehicle is corrected. This solves the problem of the lack of sleep aid functions based on active suspension in the prior art. By obtaining environmental perception device information and coordinating the control of relevant vehicle actuators and environmental perception devices, a sleep aid function and novel experience that assists users in falling asleep and improving sleep quality are provided while ensuring safety.

[0131] Next, referring to the accompanying drawings, a sleep aid control device for a vehicle intelligent suspension according to an embodiment of this application is described.

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

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

[0134] The acquisition module 100 is 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; the control module 200 is used to determine 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, it controls the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control and acquires 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 and 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 in the default control mode; if the intelligent suspension sleep aid control function is in the default control mode, then perform sleep aid control on the current vehicle based on preset control parameters; wherein, the preset control parameters include at least one of the following: front axle lifting height parameters, rear axle lifting height parameters, front and rear axle lifting frequency parameters, drive torque changing over time parameters, drive torque direction parameters, braking force changing over time parameters, audio system volume parameters, and playback start / stop parameters.

[0136] Furthermore, in some embodiments, after determining whether the intelligent suspension sleep aid control function is in the default control mode, the control module 200 is further configured to: if the intelligent suspension sleep aid control function is in a 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 the following: user-defined front axle lifting height parameters, rear axle lifting height parameters, front and rear axle lifting frequency parameters, drive torque changing over time parameters, drive torque direction parameters, braking force changing over time 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 the position of the current vehicle is corrected based on the preset wheel angle change parameters 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: 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 aid control function, and the on-duty duration of the suspension sleep aid control function; if the new environmental information does not meet the preset environmental conditions, or the status of the in-vehicle sensors is in a preset state, or the suspension sleep aid control function is in a closed state, or the on-duty 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 following: longitudinal allowable space, lateral allowable space, vertical allowable space, number of surrounding moving targets, and frequency of surrounding moving targets.

[0140] Furthermore, in some embodiments, the control module 200 is configured to: determine whether the number of surrounding moving targets in the longitudinal, lateral, and vertical permissible spaces of the current vehicle are all preset numbers, and whether the frequency of surrounding moving targets is a preset frequency; if the number of surrounding moving targets in the longitudinal, lateral, and vertical permissible spaces of the current vehicle are all preset numbers, 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 explanation of the above-described embodiment of the sleep aid control method for vehicle intelligent suspension also applies to the sleep aid control device for vehicle intelligent suspension in this embodiment, and will not be repeated here.

[0142] The sleep aid control device for intelligent vehicle suspension proposed in this application, upon receiving a wake-up command for the intelligent suspension sleep aid control function, acquires the initial position information and environmental information of the current vehicle. When the current vehicle meets preset environmental conditions, it controls the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control. Furthermore, when the new position information of the current vehicle meets preset position correction conditions, it corrects the position of the current vehicle. This solves the problem of the lack of sleep aid functions based on active suspension in the prior art, providing users with a safe and comfortable sleep aid experience through the intelligent operation of the suspension.

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

[0144] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0145] When the processor 602 executes the program, it implements the sleep-aid control method for intelligent vehicle suspension provided in the above embodiments.

[0146] Furthermore, the vehicle also includes:

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

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

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

[0150] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. 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. The bus can be divided into address bus, data bus, 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, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and 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 this application.

[0153] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for sleep-aid control of intelligent vehicle suspension.

[0154] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[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 described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0157] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing 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 (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs 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: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0158] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0159] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

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

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

Claims

1. A sleep-aid control method for a vehicle's intelligent suspension, characterized in that, Includes the following steps: Upon receiving the wake-up command for the intelligent suspension sleep aid control function, the system obtains the initial position information and environmental information of the current vehicle. Based on the current vehicle's environmental information, determine whether the current vehicle meets the preset environmental conditions. If the current vehicle meets the preset environmental conditions, control the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control, and obtain the current vehicle's new location information. Based on the initial position information of the current vehicle, the position of the current vehicle is corrected when the new position information of the current vehicle meets the preset position correction conditions.

2. The method according to claim 1, characterized in that, The control of the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control includes: Determine whether the intelligent suspension sleep aid control function is in the default control mode; If the intelligent suspension sleep aid control function is in the default control mode, then the current vehicle will be controlled to sleep based on preset control parameters; The preset control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, driving torque variation over time parameter, driving torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

3. The method according to claim 2, characterized in that, After determining whether the intelligent suspension sleep aid control function is in the default control mode, the following steps are also included: If the intelligent suspension sleep aid control function is a custom control mode, then the current vehicle will be controlled to induce sleep based on the user-defined control parameters; The user-defined control parameters include at least one of the following: front axle lifting height parameter, rear axle lifting height parameter, front and rear axle lifting frequency parameter, drive torque variation over time parameter, drive torque direction parameter, braking force variation over time parameter, audio system volume parameter, and playback start / stop parameter.

4. The method according to claim 1, characterized in that, The step of correcting the position of the current vehicle based on its initial position information, when the new position information of the current vehicle meets a preset position correction condition, includes: Determine whether the difference between the new location information of the current vehicle and the initial location 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 parameters 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, wherein After controlling the current vehicle to enter the intelligent suspension sleep-aid control function for sleep-aid control, the following is also included: 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 aid control function, and the on / off 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 a preset state, or the suspension sleep aid control function is in a closed 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.

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

7. The method according to claim 6, characterized in that, The step of determining whether the current vehicle meets the preset environmental conditions based on the current vehicle's environmental information includes: Determine whether the number of surrounding moving targets in the longitudinal allowable space, the lateral allowable space and the vertical allowable space of the current vehicle are all preset numbers, and whether the frequency of the surrounding moving targets is a preset frequency; If the number of surrounding moving targets in the longitudinal, lateral, and vertical permissible spaces of the current vehicle are all preset numbers, and the frequency of the surrounding moving targets is a preset frequency, then it is determined whether the current vehicle meets the preset environmental conditions.

8. A sleep aid control device for a vehicle intelligent suspension, characterized in that, include: The acquisition module is 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; The control module is used to determine 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 module controls the current vehicle to enter the intelligent suspension sleep aid control function for sleep aid control and obtains the current vehicle's new location information. 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 conditions.

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

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

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