Infant sleep inducing method and device based on vehicle suspension control and vehicle

Abstract

The invention provides a baby sleep inducing method and device based on vehicle suspension control and a vehicle, and the method comprises the steps: starting a baby cradle mode in a camping mode in response to the vehicle in a static state, and obtaining the sleep state information of a baby in a baby cradle set in the vehicle; based on the sleep state information, determining shaking parameters corresponding to the baby cradle, and controlling the baby cradle to shake according to the shaking parameters; on the basis of the shaking parameters, first control parameters used for adjusting the shaking degree of each air spring arranged on the vehicle suspension are determined, and each air spring is controlled to vibrate according to the first control parameters, so that a baby is lulled to sleep through shaking of the air springs and the baby cradle. By means of the method, the sleep inducing effect on the baby is improved, and then the experience feeling of a driver and passengers is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle suspension control, and in particular to a method, device and vehicle for coaxing a baby to sleep based on vehicle suspension control. Background Art

[0002] Currently, when using a baby cradle installed in a vehicle to coax a baby to sleep, the baby is generally rocked based on the coaxing parameters set in the baby cradle to coax the baby to sleep. However, this method can only use inherent setting parameters for rocking and cannot adapt to the vehicle status and the baby's sleeping state, thereby reducing the coaxing effect on the baby and further reducing the user experience of the driver and passengers. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide a method, device and vehicle for coaxing a baby to sleep based on vehicle suspension control. When a vehicle in a stationary state turns on camping mode and then turns on baby rocking mode, the sleeping state of the baby in the baby rocking bed set in the vehicle is obtained, and based on the baby's sleeping state, the rocking parameters of the baby rocking bed are determined to control the baby rocking bed to rock according to the rocking parameters, and then the control parameters for adjusting the rocking degree of each air spring set in the vehicle suspension are determined, and each air spring is controlled to vibrate according to the control parameters, so as to realize the coaxing of the baby to sleep by the rocking of the air spring and the baby rocking bed, thereby improving the coaxing effect on the baby and thus improving the user experience of the driver and passengers.

[0004] An embodiment of the present application provides a method for coaxing an infant to sleep based on vehicle suspension control, the method comprising:

[0005] In response to a vehicle in a stationary state turning on a baby rocking bed mode in a camping mode, obtaining sleeping state information of a baby in a baby rocking bed provided in the vehicle;

[0006] determining a rocking parameter corresponding to the baby rocking bed based on the sleep state information, and controlling the baby rocking bed to rock according to the rocking parameter;

[0007] Based on the shaking parameter, a first control parameter for adjusting the shaking degree of each air spring set in the vehicle suspension is determined, and each air spring is controlled to vibrate according to the first control parameter, so as to use the shaking of the air spring and the shaking of the baby rocking bed to coax the baby to sleep respectively.

[0008] Furthermore, the sleep state information includes at least a sleep state and a non-sleep state, and the shaking parameters include at least a shaking amplitude value, a shaking frequency value, and a shaking angular frequency value.

[0009] Furthermore, determining the rocking parameters corresponding to the baby rocking bed based on the sleep state information includes:

[0010] When the sleeping state information indicates that the baby is in a sleeping state, determining a first rocking amplitude value and a first rocking frequency value preset for the baby rocking bed, and determining a first rocking angular frequency value corresponding to the baby rocking bed based on the first rocking frequency value;

[0011] When the sleeping state information indicates that the baby is not sleeping, the second rocking amplitude value and the second rocking frequency value corresponding to the baby rocking bed are determined respectively, and the second rocking angular frequency value corresponding to the baby rocking bed is determined based on the second rocking frequency value.

[0012] Furthermore, the first control parameter includes at least a coaxing-to-sleep shaking displacement, a coaxing-to-sleep shaking displacement velocity value, and a first supporting force; and the first control parameter for adjusting the shaking degree of each air spring provided in the vehicle suspension based on the shaking parameter includes:

[0013] Based on the rocking amplitude value and the rocking angular frequency value, determining the corresponding rocking displacement of each air spring provided in the vehicle suspension at each moment in the baby rocking cradle mode; wherein the air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring, and a right rear wheel air spring;

[0014] Calculating the time derivative of the coaxing-to-sleep rocking displacement to obtain the coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode;

[0015] The first supporting force corresponding to each air spring is determined based on the coaxing-to-sleep rocking displacement amount, the coaxing-to-sleep rocking displacement speed value, and the spring parameter corresponding to each air spring.

[0016] Furthermore, the determining of a first control parameter for adjusting the degree of sway of each air spring of the vehicle suspension based on the sway parameter further includes:

[0017] For each of the air springs, determining whether the first supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0018] If the first supporting force is greater than a preset supporting force threshold, the first supporting force is adjusted to the preset supporting force threshold.

[0019] Furthermore, the method for coaxing a baby to sleep also includes:

[0020] In response to the vehicle being in a driving state turning on the baby rocking bed mode, obtaining the sleeping state information of the baby and the driving state parameters of the vehicle;

[0021] determining a rocking parameter corresponding to the baby rocking bed based on the sleeping state information, and determining a driving compensation coefficient corresponding to the vehicle suspension based on the sleeping state information and the driving state parameter;

[0022] Based on the driving state parameter, the shaking parameter and the driving compensation coefficient, a second control parameter corresponding to each air spring is determined, and each air spring is controlled to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

[0023] Furthermore, the driving state parameters include at least a steering state and an acceleration / deceleration state of the vehicle; and determining a driving compensation coefficient corresponding to the vehicle suspension based on the sleep state information and the driving state parameters includes:

[0024] When the sleeping state information indicates that the baby is in a sleeping state and the steering state of the vehicle is turning, determining a sleeping turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0025] When the sleeping state information indicates that the baby is in a non-sleeping state and the steering state of the vehicle is turning, determining a coaxing-to-sleep turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0026] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is acceleration, determining a sleeping acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0027] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is deceleration, determining a sleeping deceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0028] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is accelerating, determining a coaxing-to-sleep acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0029] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is deceleration, a deceleration compensation coefficient for lulling the baby into sleep in the driving compensation coefficient corresponding to the vehicle suspension is determined.

[0030] Furthermore, the second control parameter includes at least a total displacement, a driving displacement speed value, and a second supporting force; and determining the second control parameter corresponding to each air spring based on the driving state parameter, the sway parameter, and the driving compensation coefficient includes:

[0031] determining the total displacement corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient;

[0032] Calculating the time derivative of the total displacement to obtain the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode;

[0033] The second supporting force corresponding to each air spring is determined based on the total displacement, the driving displacement speed value, and the spring parameter corresponding to each air spring.

[0034] Furthermore, the determining of the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient further includes:

[0035] For each of the air springs, determining whether the second supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0036] If the second supporting force is greater than a preset supporting force threshold, the second supporting force is adjusted to the preset supporting force threshold.

[0037] Furthermore, the driving state parameters also include a driving speed value, an acceleration value, and a steering angle value of the vehicle; and determining the total displacement corresponding to each air spring based on the driving state parameters, the sway parameter, and the driving compensation coefficient includes:

[0038] Determining a turning displacement corresponding to each of the air springs based on the steering angle value, the sleeping turn compensation coefficient or the coaxing sleeping turn compensation coefficient, and the center of mass height value of the vehicle;

[0039] Determining a corresponding sleep-coaxing rocking displacement of each air spring at each moment in the baby rocking bed mode based on the first rocking amplitude value or the second rocking amplitude value, the first rocking frequency value or the second rocking frequency value, and the first rocking angular frequency value or the second rocking angular frequency value;

[0040] Determining an acceleration / deceleration displacement corresponding to each air spring based on the acceleration value, the sleeping acceleration compensation coefficient or the sleeping deceleration compensation coefficient or the coaxing-to-sleep acceleration compensation coefficient or the coaxing-to-sleep deceleration compensation coefficient, the center of mass height value and the wheelbase value of the vehicle;

[0041] The sum of the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement is determined as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

[0042] The present application also provides a baby sleeping device based on vehicle suspension control, the baby sleeping device comprising:

[0043] a first information acquisition module, configured to acquire sleeping state information of an infant in the infant rocking bed provided in the vehicle in response to the vehicle in a stationary state turning on the infant rocking bed mode in the camping mode;

[0044] a rocking control module, configured to determine rocking parameters corresponding to the baby rocking bed based on the sleep state information, and control the baby rocking bed to rock according to the rocking parameters;

[0045] The first suspension control module is used to determine a first control parameter for adjusting the rocking degree of each air spring set in the vehicle suspension based on the rocking parameter, and control each of the air springs to vibrate according to the first control parameter, so as to use the rocking of the air spring and the rocking of the baby rocking bed to coax the baby to sleep respectively.

[0046] Furthermore, the sleep state information includes at least a sleep state and a non-sleep state, and the rocking parameters include at least a rocking amplitude value, a rocking frequency value, and a rocking angular frequency value; when the rocking control module is used to determine the rocking parameters corresponding to the baby rocking bed based on the sleep state information, the rocking control module is used to:

[0047] When the sleeping state information indicates that the baby is in a sleeping state, determining a first rocking amplitude value and a first rocking frequency value preset for the baby rocking bed, and determining a first rocking angular frequency value corresponding to the baby rocking bed based on the first rocking frequency value;

[0048] When the sleeping state information indicates that the baby is not sleeping, the second rocking amplitude value and the second rocking frequency value corresponding to the baby rocking bed are determined respectively, and the second rocking angular frequency value corresponding to the baby rocking bed is determined based on the second rocking frequency value.

[0049] Furthermore, the first control parameter includes at least a coaxing-to-sleep sway displacement, a coaxing-to-sleep sway displacement velocity value, and a first supporting force; when the first suspension control module is used to determine a first control parameter for adjusting the sway degree of each air spring set in the vehicle suspension based on the sway parameter, the first suspension control module is used to:

[0050] Based on the rocking amplitude value and the rocking angular frequency value, determining the corresponding rocking displacement of each air spring provided in the vehicle suspension at each moment in the baby rocking cradle mode; wherein the air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring, and a right rear wheel air spring;

[0051] Calculating the time derivative of the coaxing-to-sleep rocking displacement to obtain the coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode;

[0052] The first supporting force corresponding to each air spring is determined based on the coaxing-to-sleep rocking displacement amount, the coaxing-to-sleep rocking displacement speed value, and the spring parameter corresponding to each air spring.

[0053] Furthermore, when the first suspension control module is configured to determine a first control parameter for adjusting a wobble degree of each air spring of a vehicle suspension arrangement based on the wobble parameter, the first suspension control module is further configured to:

[0054] For each of the air springs, determining whether the first supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0055] If the first supporting force is greater than a preset supporting force threshold, the first supporting force is adjusted to the preset supporting force threshold.

[0056] Furthermore, the baby sleeping device also includes:

[0057] a second information acquisition module, configured to acquire the sleeping state information of the infant and the driving state parameters of the vehicle in response to the vehicle in the driving state turning on the baby rocking bed mode;

[0058] a parameter determination module, configured to determine a rocking parameter corresponding to the baby rocking bed based on the sleeping state information, and to determine a driving compensation coefficient corresponding to the vehicle suspension based on the sleeping state information and the driving state parameter;

[0059] The second suspension control module is used to determine the second control parameter corresponding to each of the air springs based on the driving state parameter, the shaking parameter and the driving compensation coefficient, and control each of the air springs to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

[0060] Furthermore, the driving state parameters include at least a steering state and an acceleration / deceleration state of the vehicle; when the parameter determination module is used to determine a driving compensation coefficient corresponding to the vehicle suspension based on the sleep state information and the driving state parameters, the parameter determination module is used to:

[0061] When the sleeping state information indicates that the baby is in a sleeping state and the steering state of the vehicle is turning, determining a sleeping turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0062] When the sleeping state information indicates that the baby is in a non-sleeping state and the steering state of the vehicle is turning, determining a coaxing-to-sleep turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0063] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is acceleration, determining a sleeping acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0064] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is deceleration, determining a sleeping deceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0065] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is accelerating, determining a coaxing-to-sleep acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0066] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is deceleration, a deceleration compensation coefficient for lulling the baby into sleep in the driving compensation coefficient corresponding to the vehicle suspension is determined.

[0067] Furthermore, the second control parameter includes at least a total displacement, a driving displacement speed value, and a second supporting force; when the second suspension control module is used to determine the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient, the second suspension control module is used to:

[0068] determining the total displacement corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient;

[0069] Calculating the time derivative of the total displacement to obtain the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode;

[0070] The second supporting force corresponding to each air spring is determined based on the total displacement, the driving displacement speed value, and the spring parameter corresponding to each air spring.

[0071] Furthermore, when the second suspension control module is used to determine the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient, the second suspension control module is further used to:

[0072] For each of the air springs, determining whether the second supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0073] If the second supporting force is greater than a preset supporting force threshold, the second supporting force is adjusted to the preset supporting force threshold.

[0074] Furthermore, the driving state parameters also include a driving speed value, an acceleration value, and a steering angle value of the vehicle; when the second suspension control module is used to determine the total displacement corresponding to each air spring based on the driving state parameters, the sway parameter, and the driving compensation coefficient, the second suspension control module is used to:

[0075] Determining a turning displacement corresponding to each of the air springs based on the steering angle value, the sleeping turn compensation coefficient or the coaxing sleeping turn compensation coefficient, and the center of mass height value of the vehicle;

[0076] Determining a corresponding sleep-coaxing rocking displacement of each air spring at each moment in the baby rocking bed mode based on the first rocking amplitude value or the second rocking amplitude value, the first rocking frequency value or the second rocking frequency value, and the first rocking angular frequency value or the second rocking angular frequency value;

[0077] Determining an acceleration / deceleration displacement corresponding to each air spring based on the acceleration value, the sleeping acceleration compensation coefficient or the sleeping deceleration compensation coefficient or the coaxing-to-sleep acceleration compensation coefficient or the coaxing-to-sleep deceleration compensation coefficient, the center of mass height value and the wheelbase value of the vehicle;

[0078] The sum of the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement is determined as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

[0079] An embodiment of the present application also provides a vehicle that executes the steps of the above-mentioned method for coaxing a baby to sleep based on vehicle suspension control.

[0080] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned method for coaxing a baby to sleep based on vehicle suspension control are performed.

[0081] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for coaxing an infant to sleep based on vehicle suspension control are executed.

[0082] The embodiments of the present application provide a method, device, and vehicle for coaxing a baby to sleep based on vehicle suspension control. The method for coaxing a baby to sleep includes: in response to a vehicle in a stationary state turning on a baby rocker mode in a camping mode, obtaining sleep state information of a baby in a baby rocker provided in the vehicle; based on the sleep state information, determining a rocking parameter corresponding to the baby rocker, and controlling the baby rocker to rock according to the rocking parameter; based on the rocking parameter, determining a first control parameter for adjusting the rocking degree of each air spring provided in the vehicle suspension, and controlling each of the air springs to vibrate according to the first control parameter, so as to respectively utilize the rocking of the air spring and the rocking of the baby rocker to coax the baby to sleep.

[0083] Compared with the method in the prior art of rocking a baby to sleep based on the coaxing parameters set in the baby rocker, when a vehicle in a stationary state turns on the camping mode and then the baby rocker mode, the sleeping state of the baby in the baby rocker set in the vehicle is obtained, and based on the baby's sleeping state, the rocking parameters of the baby rocker are determined to control the baby rocking to rock according to the rocking parameters, and then the control parameters for adjusting the rocking degree of each air spring set in the vehicle suspension are determined, and each air spring is controlled to vibrate according to the control parameters to achieve the goal of rocking the baby to sleep by the rocking of the air spring and the baby rocker, thereby improving the sleeping effect on the baby and thus improving the user experience of the driver and passengers.

[0084] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0086] Figure 1 This is a flow chart of a method for coaxing a baby to sleep based on vehicle suspension control provided in an embodiment of the present application;

[0087] Figure 2This is a second flow chart of a method for coaxing a baby to sleep based on vehicle suspension control provided in an embodiment of the present application;

[0088] Figure 3 This is one of the structural schematic diagrams of a baby sleeping device based on vehicle suspension control provided in an embodiment of the present application;

[0089] Figure 4 This is a second structural diagram of a baby sleeping device based on vehicle suspension control provided in an embodiment of the present application;

[0090] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0092] Research has found that currently, when using a baby cradle installed in a vehicle to coax a baby to sleep, the baby cradle is generally rocked based on the coaxing parameters set in the baby cradle to coax the baby to sleep. However, this method can only use the inherent setting parameters for rocking, and cannot adapt to the vehicle status and the baby's sleeping status, which reduces the effect of coaxing the baby to sleep and thus reduces the experience of the driver and passengers.

[0093] Based on this, an embodiment of the present application provides a method for coaxing a baby to sleep based on vehicle suspension control. When a vehicle in a stationary state turns on camping mode and then turns on baby rocking mode, the sleeping state of the baby in the baby rocking bed set in the vehicle is obtained. Based on the baby's sleeping state, the rocking parameters of the baby rocking bed are determined to control the baby rocking bed to rock according to the rocking parameters, and then the control parameters for adjusting the rocking degree of each air spring set in the vehicle suspension are determined, and each air spring is controlled to vibrate according to the control parameters to achieve the goal of coaxing the baby to sleep through the rocking of the air spring and the baby rocking bed, thereby improving the coaxing effect on the baby and thereby improving the experience of the driver and passengers.

[0094] See also Figure 1 , Figure 1This is one of the flow charts of a method for coaxing a baby to sleep based on vehicle suspension control provided in an embodiment of the present application. Figure 1 As shown in , the method for coaxing a baby to sleep based on vehicle suspension control provided by an embodiment of the present application includes:

[0095] S101: In response to a vehicle in a stationary state turning on a baby rocking cot mode in a camping mode, obtaining sleeping state information of a baby in a baby rocking cot provided in the vehicle.

[0096] In an embodiment of the present application, the vehicle will turn on the camping mode when it is stationary. The camping mode is a set of functions designed specifically to enhance the practicality and comfort of the vehicle during outdoor activities, especially camping. It aims to utilize the car's electrical system, spatial layout and other facilities to make the vehicle a multi-functional mobile base, supporting users to enjoy outdoor life away from cities and traditional accommodation facilities.

[0097] Among them, when the vehicle is turned on in camping mode, the user can turn on the baby rocking mode in camping mode through the central control screen in the car or the vehicle's application, so as to use the rocking of the baby rocking bed set in the vehicle and the rocking of the vehicle suspension to coax the baby to sleep.

[0098] Here, the conditions for the vehicle to activate the baby rocking mode may include but are not limited to the vehicle must be in a powered-on state to ensure that the vehicle's air suspension system and related electronic equipment have sufficient power to support operation; users can click on the baby rocking mode icon specially set on the central control screen in the car to activate the baby rocking mode, or find the corresponding baby rocking mode option on the application connected to the vehicle and click to turn it on. During the process of activating the baby rocking mode, the system will perform a brief self-check to confirm that key components such as the body posture sensor, CCU, CDC controller and air suspension system are fault-free before officially starting the baby rocking mode.

[0099] It should be noted that when the vehicle is stationary, the vehicle's electronic system will perform a quick initialization for the baby rocking bed mode. The vehicle's body posture sensor will focus on monitoring the static posture changes of the vehicle caused by factors such as the unevenness of the camping ground, such as the overall tilt angle of the vehicle and slight posture deviations caused by local depressions or protrusions in the ground.

[0100] In this step, when the baby rocking mode is turned on in the camping mode of the vehicle in the stationary state, the sleeping state information of the baby in the baby rocking mode provided in the vehicle is obtained, which is input by the user based on the sleeping state of the baby.

[0101] The sleeping state information at least includes whether the baby is in a sleeping state or a non-sleeping state.

[0102] Furthermore, for babies who are sleeping, the baby rocking bed and the vehicle suspension are controlled to rock gently to ensure that the baby has a good sleeping environment. For babies who are not sleeping, the baby rocking bed and the vehicle suspension are controlled to rock slowly at a low frequency to ensure that the baby has a good sleeping environment. The baby rocking bed and the vehicle suspension are controlled to rock gently to help the baby sleep, and the rocking adjustment amplitude should be moderate to avoid disturbing the baby.

[0103] S102: Determine a rocking parameter corresponding to the baby rocking bed based on the sleep state information, and control the baby rocking bed to rock according to the rocking parameter.

[0104] In the embodiment of the present application, the shake parameters at least include a shake amplitude value, a shake frequency value, and a shake angular frequency value.

[0105] Among them, the shake amplitude value (unit: m) refers to the distance from the equilibrium position to the maximum displacement during the vibration process, that is, the maximum distance the object deviates from its center position during the vibration process, which is used to describe the intensity or magnitude of the vibration; the shake frequency value (unit: HZ) refers to the number of complete vibration cycles completed per unit time, which means the number of vibrations per second. The higher the frequency value, the faster the object vibrates, and the lower the frequency value means slower vibration; the shake angular frequency value (unit: rad / s) is a measure used to describe the rate of occurrence of periodic events. It is used in rotating or vibrating systems and is defined as the number of radians rotated per unit time.

[0106] Here, when the sleep status information indicates that the baby is in a sleeping state, the first rocking amplitude value, the first rocking frequency value and the first rocking angular frequency value corresponding to the baby rocking bed can be determined; when the sleep status information indicates that the baby is in a non-sleeping state, the second rocking amplitude value, the second rocking frequency value and the second rocking angular frequency value corresponding to the baby rocking bed can be determined.

[0107] Among them, the second rocking amplitude value is greater than the first rocking amplitude value, that is, more obvious rocking is needed to attract the baby's attention to help the baby fall asleep, while the baby needs to maintain gentle rocking to ensure stability when sleeping; the first rocking frequency value is greater than the second rocking frequency value, that is, a slightly faster rhythm can better simulate the regular rocking of the baby cradle and promote the baby to fall asleep, while the low-frequency rocking when the baby is sleeping can maintain a quiet state; the first rocking angular frequency value is greater than the second rocking angular frequency value, that is, the rocking angular frequency value corresponds to the changes in the rocking amplitude value and the rocking frequency value. The rocking displacement change rate is faster when coaxing the baby to sleep, while the baby is more relaxed when sleeping.

[0108] In one embodiment of the present application, during specific implementation, step S102 may include:

[0109] S1021. When the sleeping state information indicates that the baby is in a sleeping state, respectively determine a preset first rocking amplitude value and a preset first rocking frequency value corresponding to the baby rocking bed, and determine a first rocking angular frequency value corresponding to the baby rocking bed based on the first rocking frequency value.

[0110] In an embodiment of the present application, when it is determined that the baby is in a sleeping state, the first shaking amplitude value and the first shaking frequency value corresponding to the preset sleeping state can be determined. Here, the first shaking amplitude value and the first shaking frequency value both take smaller values. The smaller amplitude is combined with a relatively low frequency to produce a gentle and slow shaking, simulating the gentle swinging similar to the mother's arms, creating a quiet and stable sleeping environment, and avoiding disturbing the baby.

[0111] For example, the preset first shaking amplitude value may be set to 0.008 m, and the preset first shaking frequency value may be set to 0.7 Hz.

[0112] Furthermore, based on the first rocking frequency value, a preset angular frequency calculation formula is used to determine the first rocking angular frequency value corresponding to the baby rocking bed.

[0113] In an embodiment of the present application, when the baby is in a sleeping state, the expression of the preset angular frequency calculation formula is as follows.

[0114] ω sleep =2πf sleep .

[0115] Among them, ω sleep Indicates the first shaking angular frequency value corresponding to the baby rocking bed; f sleep Indicates the first shaking frequency value.

[0116] For example, assuming that the first shake amplitude value is 0.008m and the first shake frequency value is 0.7HZ, it can be calculated that the first shake angular frequency value is 4.4rad / s, that is, at this angular frequency, the sinusoidal wave shake with an amplitude of 0.008m changes at an appropriate rate, ensuring that the vehicle shakes gently and smoothly.

[0117] S1022. When the sleeping state information indicates that the baby is not sleeping, respectively determine a preset second rocking amplitude value and a preset second rocking frequency value corresponding to the baby rocking bed, and determine a second rocking angular frequency value corresponding to the baby rocking bed based on the second rocking frequency value.

[0118] In an embodiment of the present application, when it is determined that the baby is not sleeping, the second shaking amplitude value and the second shaking frequency value corresponding to the preset sleeping state can be determined. Here, the second shaking amplitude value and the second shaking frequency value are both slightly larger than the first shaking amplitude value and the first shaking frequency value. Compared with the sleeping scene, the amplitude is slightly larger and the frequency is slightly higher, which can produce more obvious shaking stimulation, simulating the rhythmic shaking of the cradle, helping the baby to establish a sleep rhythm, and enter the sleep state faster.

[0119] For example, the preset first shaking amplitude value may be set to 0.01 m, and the preset first shaking frequency value may be set to 0.8 Hz.

[0120] Furthermore, based on the second rocking frequency value, a preset angular frequency calculation formula is used to determine the second rocking angular frequency value corresponding to the baby rocking bed.

[0121] In the embodiment of the present application, when the baby is not sleeping, the expression of the preset angular frequency calculation formula is as follows.

[0122] ω soothe =2πf soothe .

[0123] Among them, ω soothe Indicates the second shaking angular frequency value corresponding to the baby rocking bed; f soothe Indicates the second shaking frequency value.

[0124] For example, assuming that the second shaking amplitude value is 0.01m and the second shaking frequency value is 0.8HZ, it can be calculated that the second shaking angular frequency value is 5rad / s, that is, at this angular frequency, the sinusoidal wave shaking with an amplitude of 0.01m has a displacement change rate slightly faster than the sleeping scene, giving the baby appropriate stimulation to help fall asleep.

[0125] S103. Based on the shaking parameter, determine a first control parameter for adjusting the shaking degree of each air spring provided in the vehicle suspension, and control each of the air springs to vibrate according to the first control parameter, so as to use the shaking of the air spring and the shaking of the baby rocking bed to coax the baby to sleep respectively.

[0126] In an embodiment of the present application, the first control parameter is a control parameter for adjusting the shaking degree of each air spring set in the vehicle suspension when the vehicle is at rest and the camping mode and the baby rocking mode are turned on.

[0127] The first control parameter at least includes a lull-to-sleep rocking displacement, a lull-to-sleep rocking displacement speed, and a first supporting force.

[0128] Here, the coaxing to sleep rocking displacement refers to the distance that the air spring in a vehicle in a stationary state moves from its stationary or equilibrium position; the coaxing to sleep rocking displacement velocity value refers to the speed at which the air spring's displacement changes during operation, that is, the amount of change in displacement per unit time; the support force refers to the support force provided by the air spring to the vehicle, and the first support force refers to the support force of the air spring when the vehicle is in a stationary state and the camping mode and baby rocking mode are turned on.

[0129] Furthermore, after determining the first control parameter, each air spring in the air suspension system is controlled to vibrate according to the first control parameter by controlling the inflation and deflation process of the air spring and adjusting the damping valve.

[0130] For example, the air spring in the right suspension is inflated to a greater amount each time than the air spring in the left suspension, allowing the right suspension to compensate for the vehicle's tilt when moving upward, while ensuring that the overall rocking rhythm meets the preset requirements of the baby rocking mode, creating an environment for the baby like using a traditional baby rocking on a flat ground, helping the baby fall asleep peacefully.

[0131] In one embodiment of the present application, during specific implementation, step S103 may include:

[0132] S1031. Based on the shaking amplitude value and the shaking angular frequency value, determine the coaxing-to-sleep shaking displacement corresponding to each air spring provided in the vehicle suspension at each moment in the baby rocking bed mode.

[0133] The air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring and a right rear wheel air spring.

[0134] Here, the left front wheel air spring and the left rear wheel air spring are air springs corresponding to the left side vehicle suspension, and the right front wheel air spring and the right rear wheel air spring are air springs corresponding to the right side vehicle suspension.

[0135] In this step, when the sleeping state information indicates that the baby is in a sleeping state, the first coaxing-to-sleep rocking displacement corresponding to each air spring at each moment in the baby rocking bed mode is determined based on the first rocking amplitude value and the first rocking angular frequency value.

[0136] Furthermore, when the sleeping state information indicates that the baby is not sleeping, the second coaxing-to-sleep rocking displacement corresponding to each air spring at each moment in the baby rocking bed mode is determined based on the second rocking amplitude value and the second rocking angular frequency value.

[0137] Furthermore, when determining the first coaxing to sleep shaking displacement or the second coaxing to sleep shaking displacement, the first coaxing to sleep shaking displacement or the second coaxing to sleep shaking displacement is compared with a preset displacement threshold to determine whether the absolute value of the first coaxing to sleep shaking displacement or the absolute value of the second coaxing to sleep shaking displacement is greater than the preset displacement threshold.

[0138] If the absolute value of the first coaxing-to-sleep shaking displacement is greater than the preset displacement threshold, the absolute value of the first coaxing-to-sleep shaking displacement is adjusted to the preset displacement threshold; if the absolute value of the second coaxing-to-sleep shaking displacement is greater than the preset displacement threshold, the absolute value of the second coaxing-to-sleep shaking displacement is adjusted to the preset displacement threshold.

[0139] Here, the preset displacement threshold may be set to 0.015 m.

[0140] Here, when the sleep state information indicates that the baby is in a sleeping state, the first coaxing-to-sleep rocking displacement is determined; when the sleep state information indicates that the baby is in a non-sleeping state, the second coaxing-to-sleep rocking displacement is determined.

[0141] In the embodiment of the present application, the expression for determining the first coaxing-to-sleep rocking displacement corresponding to each air spring at each moment in the baby rocking bed mode is as follows.

[0142] x i-sleep =A sleep sin(ω sleep t).

[0143] Among them, x i-sleep represents the first coaxing-to-sleep rocking displacement of each air spring at each moment in the baby rocking bed mode; i=1, 2, 3, 4, respectively representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring, and right rear wheel air spring; A sleep Indicates the first shaking amplitude value corresponding to the baby rocking bed; ω sleep represents the first rocking angular frequency value corresponding to the baby rocking bed; t represents each moment in the baby rocking bed mode.

[0144] Furthermore, an expression for determining the second coaxing-to-sleep rocking displacement corresponding to each air spring at each moment in the baby rocking bed mode is as follows.

[0145] x i-soothe =A soothe sin(ω soothe t).

[0146] Among them, x i-soothe represents the second coaxing-to-sleep rocking displacement of each air spring at each moment in the baby rocking cradle mode; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring, and right rear wheel air spring, respectively; Asoothe Indicates the second shaking amplitude value corresponding to the baby rocking bed; ω soothe represents the second rocking angular frequency value corresponding to the baby rocking bed; t represents each moment in the baby rocking bed mode.

[0147] S1032: Calculate the time derivative of the coaxing-to-sleep rocking displacement to obtain the coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode.

[0148] In this step, when the sleeping state information indicates that the baby is in a sleeping state, the time derivative of the first coaxing-to-sleep rocking displacement is calculated to obtain the first coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode.

[0149] In the embodiment of the present application, the expression for obtaining the time derivative of the first coaxing-to-sleep shaking displacement is as follows.

[0150]

[0151] in, Indicates the first coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode; x i-sleep Indicates the first coaxing shaking displacement of each air spring; i = 1, 2, 3, 4, respectively represent the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring; A sleep Indicates the first shaking amplitude value corresponding to the baby rocking bed; ω sleep represents the first rocking angular frequency value corresponding to the baby rocking bed; t represents each moment in the baby rocking bed mode.

[0152] Furthermore, when the sleeping state information indicates that the baby is not sleeping, the time derivative of the second coaxing-to-sleep rocking displacement is calculated to obtain the second coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode.

[0153] In the embodiment of the present application, the expression for obtaining the time derivative of the second coaxing-to-sleep shaking displacement is as follows.

[0154]

[0155] in, Indicates the second coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode; x i-soothe Indicates the second coaxing shaking displacement of each air spring; i=1, 2, 3, 4, respectively represent the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring; A soothe Indicates the second shaking amplitude value corresponding to the baby rocking bed; ω sootherepresents the second rocking angular frequency value corresponding to the baby rocking bed; t represents each moment in the baby rocking bed mode.

[0156] S1033: Determine the first supporting force corresponding to each air spring based on the coaxing-to-sleep rocking displacement amount, the coaxing-to-sleep rocking displacement speed value, and the spring parameter corresponding to each air spring.

[0157] The spring parameters corresponding to the air spring include at least spring stiffness (unit: N / m) and damping coefficient (unit: N·s / m).

[0158] Here, when the sleeping state information indicates that the baby is sleeping, the first sleeping support force corresponding to each air spring is calculated; when the sleeping state information indicates that the baby is not sleeping, the first coaxing support force corresponding to each air spring is calculated.

[0159] In this step, when the sleeping state information indicates that the baby is in a sleeping state, the first sleeping support force corresponding to each air spring is determined based on the first coaxing-to-sleep rocking displacement amount, the first coaxing-to-sleep rocking displacement speed value and the spring parameter corresponding to each air spring.

[0160] In the embodiment of the present application, the expression for calculating the first sleep support force corresponding to each air spring is as follows.

[0161]

[0162] Among them, F i-sleep k represents the first sleeping support force corresponding to each air spring; i Indicates the spring stiffness of each air spring; c i Indicates the damping coefficient corresponding to each air spring; Indicates the first coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode; x i-sleep Indicates the first coaxing shaking displacement of each air spring; i=1, 2, 3, 4, respectively represent the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring.

[0163] Furthermore, when the sleeping state information indicates that the baby is not sleeping, the second sleeping support force corresponding to each air spring is determined based on the second coaxing-to-sleep rocking displacement amount, the second coaxing-to-sleep rocking displacement speed value and the spring parameter corresponding to each air spring.

[0164] In the embodiment of the present application, the expression for calculating the second sleep support force corresponding to each air spring is as follows.

[0165]

[0166] Among them, F i-soothe k represents the second sleeping support force corresponding to each air spring; i Indicates the spring stiffness of each air spring; c i Indicates the damping coefficient corresponding to each air spring; Indicates the second coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode; x i-soothe Indicates the second coaxing and shaking displacement of each air spring; i=1, 2, 3, 4, respectively representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring.

[0167] In one embodiment of the present application, during specific implementation, step S103 further includes:

[0168] S1034. For each of the air springs, determine whether the first supporting force corresponding to the air spring is greater than a preset supporting force threshold.

[0169] Here, a judgment is made for each air spring regarding the magnitude of the first supporting force corresponding to the air spring and a preset supporting force threshold value, so as to ensure that the supporting force of each air spring is not too large and to prevent the air spring from shaking too much.

[0170] S1035: If the first supporting force is greater than a preset supporting force threshold, adjust the first supporting force to the preset supporting force threshold.

[0171] Furthermore, if the first supporting force is less than or equal to the preset supporting force threshold, the first supporting force is not adjusted.

[0172] Optional, see Figure 2 , Figure 2 This is a second flow chart of a method for coaxing a baby to sleep based on vehicle suspension control provided in an embodiment of the present application. Figure 2 As shown in , the method for coaxing a baby to sleep based on vehicle suspension control provided by an embodiment of the present application further includes:

[0173] S201: In response to the vehicle in a driving state turning on the baby rocking bed mode, obtaining the sleeping state information of the baby and the driving state parameters of the vehicle.

[0174] In the embodiment of the present application, the driving state parameters of the vehicle include at least the steering state, acceleration and deceleration state, driving speed value (unit: m / s), acceleration value (unit: m / s), and the like. 2 ) and steering angle value (unit: rad).

[0175] The steering state includes at least one of a turning state (a left-turning state and a right-turning state) and a straight-ahead state; and the acceleration / deceleration state includes at least one of an acceleration state and a deceleration state.

[0176] In the embodiment of the present application, a vehicle body posture sensor is used to collect the vehicle's driving state parameters.

[0177] Here, the body posture sensor is used to collect multi-dimensional posture information of the vehicle. It not only monitors the vehicle's regular tilt and pitch angles in real time, but also needs to be closely integrated with various dynamic changes of the vehicle during driving.

[0178] For example, in a common dynamic scenario such as a vehicle turning, the vehicle body will roll. At this time, the body posture sensor installed in the vehicle's TBOX can quickly capture the change in the roll angle in a very short time due to its high sensitivity. It can also accurately transmit the roll angle data at a high rate to the continuous damping control system (CDC) in the vehicle suspension system through the CAN_FD (Controller Area Network with Flexible Data-rate) bus.

[0179] S202: Determine a rocking parameter corresponding to the baby rocking bed based on the sleeping state information, and determine a driving compensation coefficient corresponding to the vehicle suspension based on the sleeping state information and the driving state parameter.

[0180] Among them, the description of determining the rocking parameter corresponding to the baby rocking bed based on the sleeping state information in S202 can refer to the description of S1021 to S1022, and can achieve the same technical effect, which is not repeated here.

[0181] In an embodiment of the present application, by setting the driving compensation coefficient corresponding to the vehicle suspension, the control of each air spring in the vehicle suspension is compensated based on the driving state of the vehicle and the sleeping state of the baby, so as to achieve the purpose of stable control of the shaking of the air spring.

[0182] Here, the driving compensation coefficient includes a coaxing-to-sleep turning compensation coefficient, a sleeping turning compensation coefficient, a sleeping acceleration compensation coefficient, a sleeping deceleration compensation coefficient, a coaxing-to-sleep acceleration compensation coefficient, and a coaxing-to-sleep deceleration compensation coefficient.

[0183] Among them, the coaxing to sleep turning compensation coefficient is greater than the sleeping turning compensation coefficient, because when coaxing a baby who is not asleep to sleep, it is necessary to ensure the stability of the vehicle and create a certain amount of shaking to help the baby fall asleep; the coaxing to sleep acceleration compensation coefficient is greater than the sleeping acceleration compensation coefficient, because the coaxing to sleep acceleration compensation coefficient must ensure the stability of the vehicle during acceleration, and provide appropriate dynamic changes for coaxing to sleep through suspension adjustment to assist the baby to fall asleep; the coaxing to sleep deceleration compensation coefficient is greater than the sleeping deceleration compensation coefficient, while balancing the vehicle's deceleration posture, it creates a suitable suspension adjustment range for coaxing to sleep to help the baby fall asleep.

[0184] In the embodiment of the present application, the sleep turning compensation coefficient, the sleep acceleration compensation coefficient and the sleep deceleration compensation coefficient are all sleep state compensation coefficients. The sleep state compensation coefficient determines the corresponding compensation coefficient when the infant is in the sleep state for each compensation type (for example, turning, acceleration, deceleration). The value of the sleep state compensation coefficient is relatively small. The purpose is to maintain vehicle stability with gentle suspension adjustment when the vehicle's driving state changes, so as to avoid disturbing a sleeping baby; for example, the sleep turning compensation coefficient is used to moderately adjust the suspension to compensate for the influence of centrifugal force when the vehicle turns, so that the air spring shaking movement amplitude is relatively gentle.

[0185] The coaxing-to-sleep turning compensation coefficient, the coaxing-to-sleep acceleration compensation coefficient, and the coaxing-to-sleep deceleration compensation coefficient are all coaxing-to-sleep state compensation coefficients. The coaxing-to-sleep state compensation coefficient determines the corresponding compensation coefficient when the baby is in a non-sleeping state for each compensation type (for example, turning, acceleration, deceleration). The coaxing-to-sleep state compensation coefficient is larger than the sleeping state compensation coefficient. This is because when coaxing a baby to sleep, in addition to ensuring the stability of the vehicle, the suspension must be adjusted with an appropriate amplitude to simulate a cradle effect to assist the baby in falling asleep. For example, when the vehicle turns, the coaxing-to-sleep turning compensation coefficient will make the vehicle suspension adjustment amplitude larger, generating appropriate shaking to help the baby establish a sleep rhythm.

[0186] In this way, the value of the sleep state compensation coefficient when the baby is in the sleeping state is relatively small, mainly to control the gentle shaking of the vehicle suspension to maintain vehicle stability; the value of the coaxing state compensation coefficient when the baby is not in the sleeping state is relatively large, to take into account the dual needs of stability and assisting coaxing to sleep.

[0187] In one embodiment of the present application, in a specific implementation, the step of determining the driving compensation coefficient corresponding to the vehicle suspension based on the sleep state information and the driving state parameter in step S202 may include:

[0188] S2021: When the sleeping state information indicates that the baby is in a sleeping state and the steering state of the vehicle is turning, determine a sleeping turning compensation coefficient in the driving compensation coefficient corresponding to the vehicle suspension.

[0189] In an embodiment of the present application, the sleep turn compensation coefficient is used to adjust the vehicle suspension when the vehicle is in a turning state and the baby is in a sleeping state, so as to compensate for the changes in vehicle posture caused by turning. The value of the sleep turn compensation coefficient is relatively small. The purpose is to maintain the basic stability of the vehicle while using a gentle adjustment range to avoid disturbing the sleeping baby.

[0190] S2022: When the sleeping state information indicates that the baby is not sleeping and the vehicle is turning, determine a coaxing-to-sleep turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension.

[0191] In an embodiment of the present application, the coaxing-to-sleep turning compensation coefficient is used to adjust the vehicle suspension when the vehicle is turning and the baby is not sleeping. The value of the coaxing-to-sleep turning compensation coefficient is larger than the sleeping turning compensation coefficient. While compensating for the impact of turning, a moderate suspension adjustment amplitude is used to simulate the cradle effect to help the baby fall asleep.

[0192] S2023: When the sleeping state information indicates that the baby is in the sleeping state and the acceleration / deceleration state of the vehicle is acceleration, determine a sleeping acceleration compensation coefficient in the driving compensation coefficient corresponding to the vehicle suspension.

[0193] In an embodiment of the present application, the sleep acceleration compensation coefficient is used to adjust the vehicle suspension when the vehicle accelerates and the baby is sleeping. By adjusting the vehicle suspension, the effects of changes in the center of gravity caused by vehicle acceleration are compensated, and gentle adjustments are made to maintain vehicle stability to avoid disturbing the sleeping baby.

[0194] S2024: When the sleeping state information indicates that the baby is in the sleeping state and the acceleration / deceleration state of the vehicle is deceleration, determine a sleeping deceleration compensation coefficient in the driving compensation coefficient corresponding to the vehicle suspension.

[0195] In an embodiment of the present application, the sleep deceleration compensation coefficient is used to adjust the vehicle suspension when the vehicle decelerates and the baby is sleeping, compensate for the change in vehicle posture caused by deceleration, maintain vehicle stability with gentle movements, and prevent disturbing the sleeping baby.

[0196] S2025: When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is accelerating, determine a coaxing-to-sleep acceleration compensation coefficient in the driving compensation coefficient corresponding to the vehicle suspension.

[0197] In an embodiment of the present application, the acceleration compensation coefficient for coaxing a baby to sleep is used to adjust the vehicle suspension when the vehicle accelerates and a baby needs to be coaxed to sleep. It is necessary to ensure the stability of the vehicle during acceleration and provide appropriate dynamic changes for coaxing a baby to sleep through suspension adjustment to assist the baby in falling asleep.

[0198] S2026: When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is deceleration, determine a deceleration compensation coefficient for lulling the baby into sleep in a driving compensation coefficient corresponding to the vehicle suspension.

[0199] In an embodiment of the present application, the deceleration compensation coefficient for coaxing a baby to sleep is used to adjust the vehicle suspension when the vehicle decelerates and a baby needs to be coaxed to sleep. While balancing the vehicle's deceleration posture, it creates a suitable suspension adjustment range for coaxing a baby to sleep, helping the baby fall asleep.

[0200] S203. Based on the driving state parameter, the shaking parameter and the driving compensation coefficient, determine the second control parameter corresponding to each air spring, and control each air spring to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

[0201] In an embodiment of the present application, the second control parameter is a control parameter for adjusting the shaking degree of each air spring set in the vehicle suspension when the vehicle is in driving state and the baby rocking mode is turned on.

[0202] The second control parameter includes at least a total displacement, a driving displacement speed value and a second support force, and the second support force refers to the support force of the air spring when the vehicle is in driving state and the baby rocking bed mode is turned on.

[0203] Here, the total displacement is the sum of the turning displacement, the coaxing-to-sleep shaking displacement and the acceleration / deceleration displacement; wherein, the turning displacement is the displacement generated by the air spring of the vehicle suspension when the vehicle is in a turning state, and the acceleration / deceleration displacement is the displacement generated by the air spring of the vehicle suspension when the vehicle is in an accelerating state or a decelerating state.

[0204] Furthermore, after determining the second control parameter corresponding to each air spring, each air spring is controlled to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

[0205] For example, taking the vehicle turning right as an example, the air compressor inside the left side suspension of the vehicle (left front wheel air spring, left rear wheel air spring) is controlled to increase the inflation volume of the air spring, thereby appropriately increasing the supporting force and raising the left half of the vehicle body relatively. At the same time, for the right side suspension of the vehicle (right front wheel air spring, right rear wheel air spring), the CDC controller adjusts the opening of the damping valve of the air spring to slightly slow down the downward displacement speed while ensuring gentle shaking, thereby cleverly balancing the roll effect caused by turning and ensuring that the shaking felt by the baby is still gentle and steady.

[0206] Take the process of vehicle acceleration or deceleration as an example. When the vehicle accelerates, the forward momentum of the vehicle increases. In order to avoid the superposition of this momentum and shaking to cause discomfort to the baby, the shaking amplitude of the front and rear suspensions of the vehicle is reduced. For example, by adjusting the inflation and deflation rate of the air spring in the air suspension system, the displacement of the suspension is appropriately reduced at the moment of acceleration; when the vehicle decelerates, the CDC controller adjusts the suspension action to match the shaking with the vehicle's deceleration state, providing the baby with a stable and comfortable driving and sleeping experience.

[0207] In one embodiment of the present application, in a specific implementation, the step of determining the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient in step S203 includes:

[0208] S2031. Determine the total displacement corresponding to each air spring based on the driving state parameter, the shaking parameter, and the driving compensation coefficient.

[0209] In the embodiment of the present application, to calculate the total displacement corresponding to each air spring, it is necessary to separately calculate the turning displacement corresponding to each air spring, the coaxing and rocking displacement corresponding to each air spring at each moment in the baby rocking crib mode, and the acceleration and deceleration displacement corresponding to each air spring.

[0210] When the vehicle is in a straight-moving state, the turning displacement is set to 0.

[0211] Here, when calculating the total displacement corresponding to each air spring, when the vehicle is not in a straight-ahead state, there are at least 8 situations for calculating the total displacement based on the vehicle's steering state (left turn, right turn), acceleration and deceleration state (acceleration, deceleration) and the baby's sleeping state information (sleeping, not sleeping).

[0212] Furthermore, when the vehicle is in a straight-moving state, based on the vehicle's acceleration and deceleration state (acceleration, deceleration) and the baby's sleep state information (sleeping, not sleeping), there are at least four situations for calculating the total displacement. In each case, the turning displacement is 0 and no compensation is required.

[0213] In one embodiment of the present application, during specific implementation, step S2031 may include:

[0214] S20311. Determine the turning displacement corresponding to each air spring based on the steering angle value, the sleeping turn compensation coefficient or the coaxing sleeping turn compensation coefficient, and the center of mass height value of the vehicle.

[0215] In an embodiment of the present application, when the vehicle is turning left and the baby is sleeping, the expression for determining the turning displacement corresponding to each air spring is as follows.

[0216] x i-turn1-sleep =K turn-sleep θh cg , (i=1,3).

[0217] x i-turn1-sleep =-K turn-sleep θh cg , (i=2,4).

[0218] When the vehicle is turning right and the baby is sleeping, the expression for determining the turning displacement corresponding to each air spring is as follows.

[0219] x i-turn2-sleep =-K turn-sleep θh cg , (i=1,3).

[0220] x i-turn2-sleep =K turn-sleep θh cg , (i=2,4).

[0221] When the vehicle is turning left and the infant is awake, the expression for determining the turning displacement corresponding to each air spring is as follows.

[0222] x i-turn1-soothe =K turn-soothe θh cg , (i=1,3).

[0223] x i-turn1-soothe =-K turn-soothe θh cg , (i=2,4).

[0224] When the vehicle is turning right and the infant is awake, the expression for determining the turning displacement corresponding to each air spring is as follows.

[0225] x i-turn2-soothe =-K turn-soothe θh cg , (i=1,3).

[0226] x i-turn2-soothe =K turn-soothe θh cg , (i=2,4).

[0227] Among them, x i-turn1-sleep Indicates the turning displacement of each air spring when the vehicle is turning left and the baby is sleeping; x i-turn2-sleep Indicates the turning displacement of each air spring when the vehicle is turning right and the baby is sleeping; xi-turn1-soothe Indicates the turning displacement of each air spring when the vehicle is turning left and the baby is not sleeping; x i-turn2-soothe It represents the turning displacement of each air spring when the vehicle is turning right and the baby is not sleeping; θ represents the steering angle value; h cg Indicates the vehicle's center of mass height; K turn-sleep Indicates the sleep turn compensation coefficient; K turn-soothe Indicates the sleep-coaxing turn compensation coefficient.

[0228] S20312. Based on the first shaking amplitude value or the second shaking amplitude value, the first shaking frequency value or the second shaking frequency value, the first shaking angular frequency value or the second shaking angular frequency value, determine the corresponding sleeping shaking displacement of each air spring at each moment in the baby rocking bed mode.

[0229] Among them, the description of S20312 can refer to the description of S1031 and can achieve the same technical effect, so it will not be repeated here.

[0230] S20313. Determine the acceleration and deceleration displacement corresponding to each air spring based on the acceleration value, the sleeping acceleration compensation coefficient or the sleeping deceleration compensation coefficient or the coaxing-to-sleep acceleration compensation coefficient or the coaxing-to-sleep deceleration compensation coefficient, the center of mass height value and the wheelbase value of the vehicle.

[0231] Here, when the acceleration / deceleration state of the vehicle is uniform, the acceleration / deceleration displacement corresponding to each air spring is 0, and no compensation is required.

[0232] In an embodiment of the present application, when the acceleration / deceleration state of the vehicle is an acceleration state and the baby is in a sleeping state, the expression for determining the acceleration / deceleration displacement corresponding to each air spring is as follows.

[0233]

[0234] In an embodiment of the present application, when the acceleration / deceleration state of the vehicle is a deceleration state and the baby is in a sleeping state, the expression for determining the acceleration / deceleration displacement corresponding to each air spring is as follows.

[0235]

[0236] In an embodiment of the present application, when the acceleration / deceleration state of the vehicle is an acceleration state and the baby is not sleeping, the expression for determining the acceleration / deceleration displacement corresponding to each air spring is as follows.

[0237]

[0238] In an embodiment of the present application, when the acceleration / deceleration state of the vehicle is a deceleration state and the baby is not sleeping, the expression for determining the acceleration / deceleration displacement corresponding to each air spring is as follows.

[0239]

[0240] Among them, x i-accel-sleep Indicates the acceleration and deceleration displacement of each air spring when the vehicle is accelerating and the baby is sleeping; x i-decel-sleep Indicates the acceleration and deceleration displacement of each air spring when the vehicle is in a decelerating state and the baby is in a sleeping state; x i-accel-soothe Indicates the acceleration and deceleration displacement of each air spring when the vehicle is accelerating and the baby is not sleeping; x i-decel-soothe It represents the acceleration and deceleration displacement of each air spring when the vehicle is in a decelerating state and the baby is not asleep; a represents the acceleration value; h represents the acceleration value; cg and L represent the vehicle's center of mass height and wheelbase respectively; K accel-sleep Indicates the sleep acceleration compensation coefficient; K decel-sleep Indicates the sleep deceleration compensation coefficient; K accel-soothe Indicates the acceleration compensation coefficient for coaxing to sleep; K decel-soothe Indicates the sleep-coaxing deceleration compensation coefficient.

[0241] S20314: Determine the sum of the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

[0242] In this step, the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement are added together, and the accumulated result is determined as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

[0243] S2032: Calculate the time derivative of the total displacement to obtain the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode.

[0244] In this step, since the total displacement is the sum of the turning displacement, the coaxing to sleep rocking displacement and the acceleration and deceleration displacement, and only the coaxing to sleep rocking displacement is the displacement corresponding to each moment of the air spring in the baby rocking bed mode, therefore, by taking the time derivative of the total displacement, the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode is obtained, which is consistent with the result obtained by taking the time derivative of the coaxing to sleep rocking displacement.

[0245] In this way, the description of S2032 can refer to the description of S1032 and can achieve the same technical effect, which will not be repeated here.

[0246] S2033: Determine the second supporting force corresponding to each air spring based on the total displacement, the driving displacement speed value, and the spring parameter corresponding to each air spring.

[0247] In the embodiment of the present application, the expression for determining the second supporting force corresponding to each air spring is as follows.

[0248]

[0249] Among them, F i Indicates the second support force corresponding to each air spring; x i Indicates the total displacement; Indicates the driving displacement speed value; k i Indicates the spring stiffness of each air spring; c i Indicates the damping coefficient corresponding to each air spring; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring respectively.

[0250] In one embodiment of the present application, in a specific implementation, the step of determining the second control parameter corresponding to each air spring based on the driving state parameter, the sway parameter, and the driving compensation coefficient in step S203 further includes:

[0251] S2034: For each of the air springs, determine whether the second supporting force corresponding to the air spring is greater than a preset supporting force threshold.

[0252] S2035: If the second supporting force is greater than a preset supporting force threshold, adjust the second supporting force to the preset supporting force threshold.

[0253] Furthermore, if the second supporting force is less than or equal to the preset supporting force threshold, the second supporting force is not adjusted.

[0254] Among them, the description of S2034 to S2035 can refer to the description of S1034 to S1035, and can achieve the same technical effect, so it will not be repeated here.

[0255] The embodiment of the present application provides a method for coaxing a baby to sleep based on vehicle suspension control. When a vehicle in a stationary state turns on camping mode and then turns on baby rocking mode, the sleeping state of the baby in the baby rocking bed provided in the vehicle is obtained. Based on the sleeping state of the baby, the rocking parameters of the baby rocking bed are determined to control the baby rocking bed to rock according to the rocking parameters, and then the control parameters for adjusting the rocking degree of each air spring provided in the vehicle suspension are determined. Each air spring is controlled to vibrate according to the control parameters to achieve the goal of coaxing the baby to sleep by the rocking of the air springs and the baby rocking bed, thereby improving the sleeping effect on the baby and thus improving the user experience of the driver and passengers.

[0256] See also Figure 3 、 Figure 4 , Figure 3 This is one of the structural schematic diagrams of a baby sleeping device based on vehicle suspension control provided in an embodiment of the present application. Figure 4 This is a second structural diagram of a baby sleeping device based on vehicle suspension control provided in an embodiment of the present application. Figure 3 As shown in FIG, the baby sleeping device 300 includes:

[0257] A first information acquisition module 310 is configured to acquire sleeping state information of an infant in a baby rocking bed provided in a stationary vehicle in response to the vehicle turning on a baby rocking bed mode in a camping mode;

[0258] a rocking control module 320 for determining rocking parameters corresponding to the baby rocking bed based on the sleep state information, and controlling the baby rocking bed to rock according to the rocking parameters;

[0259] The first suspension control module 330 is used to determine a first control parameter for adjusting the degree of rocking of each air spring set in the vehicle suspension based on the rocking parameter, and control each of the air springs to vibrate according to the first control parameter, so as to use the rocking of the air spring and the rocking of the baby rocking bed to coax the baby to sleep respectively.

[0260] Furthermore, the sleep state information includes at least a sleep state and a non-sleep state, and the rocking parameters include at least a rocking amplitude value, a rocking frequency value, and a rocking angular frequency value; when the rocking control module 320 is used to determine the rocking parameters corresponding to the baby rocking bed based on the sleep state information, the rocking control module 320 is used to:

[0261] When the sleeping state information indicates that the baby is in a sleeping state, determining a first rocking amplitude value and a first rocking frequency value preset for the baby rocking bed, and determining a first rocking angular frequency value corresponding to the baby rocking bed based on the first rocking frequency value;

[0262] When the sleeping state information indicates that the baby is not sleeping, the second rocking amplitude value and the second rocking frequency value corresponding to the baby rocking bed are determined respectively, and the second rocking angular frequency value corresponding to the baby rocking bed is determined based on the second rocking frequency value.

[0263] Furthermore, the first control parameter includes at least a coaxing-to-sleep sway displacement, a coaxing-to-sleep sway displacement velocity, and a first supporting force; when the first suspension control module 330 is used to determine a first control parameter for adjusting the sway degree of each air spring set in the vehicle suspension based on the sway parameter, the first suspension control module 330 is used to:

[0264] Based on the rocking amplitude value and the rocking angular frequency value, determining the corresponding rocking displacement of each air spring provided in the vehicle suspension at each moment in the baby rocking cradle mode; wherein the air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring, and a right rear wheel air spring;

[0265] Calculating the time derivative of the coaxing-to-sleep rocking displacement to obtain the coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode;

[0266] The first supporting force corresponding to each air spring is determined based on the coaxing-to-sleep rocking displacement amount, the coaxing-to-sleep rocking displacement speed value, and the spring parameter corresponding to each air spring.

[0267] Furthermore, when the first suspension control module 330 is configured to determine a first control parameter for adjusting the sway level of each air spring of the vehicle suspension based on the sway parameter, the first suspension control module 330 is further configured to:

[0268] For each of the air springs, determining whether the first supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0269] If the first supporting force is greater than a preset supporting force threshold, the first supporting force is adjusted to the preset supporting force threshold.

[0270] Further, such as Figure 4 As shown in , the baby sleeping device 300 also includes:

[0271] A second information acquisition module 340 is configured to acquire the sleeping state information of the infant and the driving state parameters of the vehicle in response to the vehicle in the driving state turning on the baby rocking mode;

[0272] a parameter determination module 350 for determining a rocking parameter corresponding to the baby rocking bed based on the sleeping state information, and determining a driving compensation coefficient corresponding to the vehicle suspension based on the sleeping state information and the driving state parameter;

[0273] The second suspension control module 360 ​​is used to determine the second control parameter corresponding to each of the air springs based on the driving state parameter, the shaking parameter and the driving compensation coefficient, and control each of the air springs to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

[0274] Furthermore, the driving state parameters include at least the steering state and acceleration / deceleration state of the vehicle; when the parameter determination module 350 is used to determine the driving compensation coefficient corresponding to the vehicle suspension based on the sleep state information and the driving state parameters, the parameter determination module 350 is used to:

[0275] When the sleeping state information indicates that the baby is in a sleeping state and the steering state of the vehicle is turning, determining a sleeping turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0276] When the sleeping state information indicates that the baby is in a non-sleeping state and the steering state of the vehicle is turning, determining a coaxing-to-sleep turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0277] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is acceleration, determining a sleeping acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0278] When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is deceleration, determining a sleeping deceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0279] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is accelerating, determining a coaxing-to-sleep acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension;

[0280] When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is deceleration, a deceleration compensation coefficient for lulling the baby into sleep in the driving compensation coefficient corresponding to the vehicle suspension is determined.

[0281] Furthermore, the second control parameter includes at least a total displacement, a driving displacement speed value, and a second supporting force; when the second suspension control module 360 ​​is used to determine the second control parameter corresponding to each air spring based on the driving state parameter, the sway parameter, and the driving compensation coefficient, the second suspension control module 360 ​​is used to:

[0282] determining the total displacement corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient;

[0283] Calculating the time derivative of the total displacement to obtain the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode;

[0284] The second supporting force corresponding to each air spring is determined based on the total displacement, the driving displacement speed value, and the spring parameter corresponding to each air spring.

[0285] Furthermore, when the second suspension control module 360 ​​is used to determine the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient, the second suspension control module 360 ​​is further used to:

[0286] For each of the air springs, determining whether the second supporting force corresponding to the air spring is greater than a preset supporting force threshold;

[0287] If the second supporting force is greater than a preset supporting force threshold, the second supporting force is adjusted to the preset supporting force threshold.

[0288] Furthermore, the driving state parameters also include a driving speed value, an acceleration value, and a steering angle value of the vehicle; when the second suspension control module 360 ​​is used to determine the total displacement corresponding to each air spring based on the driving state parameters, the sway parameter, and the driving compensation coefficient, the second suspension control module 360 ​​is used to:

[0289] Determining a turning displacement corresponding to each of the air springs based on the steering angle value, the sleeping turn compensation coefficient or the coaxing sleeping turn compensation coefficient, and the center of mass height value of the vehicle;

[0290] Determining a corresponding sleep-coaxing rocking displacement of each air spring at each moment in the baby rocking bed mode based on the first rocking amplitude value or the second rocking amplitude value, the first rocking frequency value or the second rocking frequency value, and the first rocking angular frequency value or the second rocking angular frequency value;

[0291] Determining an acceleration / deceleration displacement corresponding to each air spring based on the acceleration value, the sleeping acceleration compensation coefficient or the sleeping deceleration compensation coefficient or the coaxing-to-sleep acceleration compensation coefficient or the coaxing-to-sleep deceleration compensation coefficient, the center of mass height value and the wheelbase value of the vehicle;

[0292] The sum of the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement is determined as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

[0293] The baby-lulling device based on vehicle suspension control provided in an embodiment of the present application obtains the sleeping state of the baby in the baby rocking bed provided in the vehicle when the camping mode is turned on and then the baby rocking bed mode is turned on in a stationary vehicle. Based on the sleeping state of the baby, the rocking parameters of the baby rocking bed are determined to control the baby rocking bed to rock according to the rocking parameters, and then the control parameters for adjusting the rocking degree of each air spring provided in the vehicle suspension are determined, and each air spring is controlled to vibrate according to the control parameters to achieve the goal of lulling the baby to sleep by the rocking of the air spring and the baby rocking bed, thereby improving the sleeping effect on the baby and thus improving the user experience of the driver and passengers.

[0294] The embodiment of the present application also provides a vehicle, which performs the above Figure 1 as well as Figure 2 Steps of a method for lulling an infant to sleep based on vehicle suspension control in an embodiment of the method are shown.

[0295] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in FIG, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0296] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 as well as Figure 2 The specific implementation of the steps of the method for coaxing a baby to sleep based on vehicle suspension control in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0297] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 as well as Figure 2The specific implementation of the steps of the method for coaxing a baby to sleep based on vehicle suspension control in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0298] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0299] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0300] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0301] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0302] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0303] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for coaxing a baby to sleep based on vehicle suspension control, characterized in that: The method for coaxing a baby to sleep comprises: In response to a vehicle in a stationary state turning on a baby rocking bed mode in a camping mode, obtaining sleeping state information of a baby in a baby rocking bed provided in the vehicle; determining a rocking parameter corresponding to the baby rocking bed based on the sleep state information, and controlling the baby rocking bed to rock according to the rocking parameter; Based on the shaking parameter, a first control parameter for adjusting the shaking degree of each air spring set in the vehicle suspension is determined, and each air spring is controlled to vibrate according to the first control parameter, so as to use the shaking of the air spring and the shaking of the baby rocking bed to coax the baby to sleep respectively.

2. The method according to claim 1, characterized in that The sleep state information includes at least a sleep state and a non-sleep state, and the shaking parameters include at least a shaking amplitude value, a shaking frequency value, and a shaking angular frequency value.

3. The method according to claim 2, characterized in that The determining, based on the sleep state information, a rocking parameter corresponding to the baby rocking bed, includes: When the sleeping state information indicates that the baby is in a sleeping state, determining a first rocking amplitude value and a first rocking frequency value preset for the baby rocking bed, and determining a first rocking angular frequency value corresponding to the baby rocking bed based on the first rocking frequency value; When the sleeping state information indicates that the baby is not sleeping, the second rocking amplitude value and the second rocking frequency value corresponding to the baby rocking bed are determined respectively, and the second rocking angular frequency value corresponding to the baby rocking bed is determined based on the second rocking frequency value.

4. The method according to claim 2, characterized in that The first control parameter includes at least a coaxing-to-sleep sway displacement, a coaxing-to-sleep sway displacement velocity value, and a first supporting force; and determining the first control parameter for adjusting the sway degree of each air spring provided in the vehicle suspension based on the sway parameter includes: Based on the rocking amplitude value and the rocking angular frequency value, determining the corresponding rocking displacement of each air spring provided in the vehicle suspension at each moment in the baby rocking cradle mode; wherein the air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring, and a right rear wheel air spring; Calculating the time derivative of the coaxing-to-sleep rocking displacement to obtain the coaxing-to-sleep rocking displacement velocity value corresponding to each air spring at each moment in the baby rocking bed mode; The first supporting force corresponding to each air spring is determined based on the coaxing-to-sleep rocking displacement amount, the coaxing-to-sleep rocking displacement speed value, and the spring parameter corresponding to each air spring.

5. The method according to claim 4, characterized in that The determining of a first control parameter for adjusting the degree of wobbling of each air spring of a vehicle suspension arrangement based on the wobbling parameter further comprises: For each of the air springs, determining whether the first supporting force corresponding to the air spring is greater than a preset supporting force threshold; If the first supporting force is greater than a preset supporting force threshold, the first supporting force is adjusted to the preset supporting force threshold.

6. The method according to claim 2, characterized in that The method for coaxing a baby to sleep also includes: In response to the vehicle being in a driving state turning on the baby rocking bed mode, obtaining the sleeping state information of the baby and the driving state parameters of the vehicle; determining a rocking parameter corresponding to the baby rocking bed based on the sleeping state information, and determining a driving compensation coefficient corresponding to the vehicle suspension based on the sleeping state information and the driving state parameter; Based on the driving state parameter, the shaking parameter and the driving compensation coefficient, a second control parameter corresponding to each air spring is determined, and each air spring is controlled to vibrate according to the second control parameter, so as to use the shaking of the air spring to coax the baby to sleep.

7. The method according to claim 6, characterized in that The driving state parameters include at least a steering state and an acceleration / deceleration state of the vehicle; and determining a driving compensation coefficient corresponding to the vehicle suspension based on the sleep state information and the driving state parameters includes: When the sleeping state information indicates that the baby is in a sleeping state and the steering state of the vehicle is turning, determining a sleeping turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension; When the sleeping state information indicates that the baby is in a non-sleeping state and the steering state of the vehicle is turning, determining a coaxing-to-sleep turning compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension; When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is acceleration, determining a sleeping acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension; When the sleeping state information indicates that the baby is in a sleeping state and the acceleration / deceleration state of the vehicle is deceleration, determining a sleeping deceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension; When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is accelerating, determining a coaxing-to-sleep acceleration compensation coefficient in a driving compensation coefficient corresponding to the vehicle suspension; When the sleeping state information indicates that the baby is not sleeping and the acceleration / deceleration state of the vehicle is deceleration, a deceleration compensation coefficient for lulling the baby into sleep in the driving compensation coefficient corresponding to the vehicle suspension is determined.

8. The method according to claim 7, characterized in that The second control parameter includes at least a total displacement, a driving displacement speed value, and a second supporting force; and determining the second control parameter corresponding to each air spring based on the driving state parameter, the shaking parameter, and the driving compensation coefficient includes: determining the total displacement corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient; Calculating a time derivative of the total displacement to obtain the driving displacement speed value corresponding to each air spring at each moment in the baby rocking bed mode; The second supporting force corresponding to each air spring is determined based on the total displacement, the driving displacement speed value, and the spring parameter corresponding to each air spring.

9. The method according to claim 8, characterized in that The determining of the second control parameter corresponding to each of the air springs based on the driving state parameter, the sway parameter, and the driving compensation coefficient further includes: For each of the air springs, determining whether the second supporting force corresponding to the air spring is greater than a preset supporting force threshold; If the second supporting force is greater than a preset supporting force threshold, the second supporting force is adjusted to the preset supporting force threshold.

10. The method according to claim 8, characterized in that The driving state parameters also include a driving speed value, an acceleration value, and a steering angle value of the vehicle; and determining the total displacement corresponding to each air spring based on the driving state parameters, the sway parameter, and the driving compensation coefficient includes: Determining a turning displacement corresponding to each of the air springs based on the steering angle value, the sleeping turn compensation coefficient or the coaxing sleeping turn compensation coefficient, and the center of mass height value of the vehicle; Determining a corresponding sleep-coaxing rocking displacement of each air spring at each moment in the baby rocking bed mode based on the first rocking amplitude value or the second rocking amplitude value, the first rocking frequency value or the second rocking frequency value, and the first rocking angular frequency value or the second rocking angular frequency value; Determining an acceleration / deceleration displacement corresponding to each air spring based on the acceleration value, the sleeping acceleration compensation coefficient or the sleeping deceleration compensation coefficient or the coaxing-to-sleep acceleration compensation coefficient or the coaxing-to-sleep deceleration compensation coefficient, the center of mass height value and the wheelbase value of the vehicle; The sum of the turning displacement, the coaxing-to-sleep rocking displacement, and the acceleration / deceleration displacement is determined as the total displacement corresponding to each air spring at each moment in the baby rocking bed mode.

11. A baby sleeping device based on vehicle suspension control, characterized in that: The baby sleeping device comprises: a first information acquisition module configured to acquire, in response to a vehicle in a stationary state turning on a baby rocking cradle mode in a camping mode, sleep state information of a baby in a baby rocking cradle provided in the vehicle; a rocking control module, configured to determine rocking parameters corresponding to the baby rocking bed based on the sleep state information, and control the baby rocking bed to rock according to the rocking parameters; The first suspension control module is used to determine a first control parameter for adjusting the rocking degree of each air spring set in the vehicle suspension based on the rocking parameter, and control each of the air springs to vibrate according to the first control parameter, so as to use the rocking of the air spring and the rocking of the baby rocking bed to coax the baby to sleep respectively.

12. A vehicle, characterized in that: The vehicle executes the steps of the method for lulling an infant to sleep based on vehicle suspension control according to any one of claims 1 to 10.

13. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the processor is running, the machine-readable instructions execute the steps of the method for coaxing an infant to sleep based on vehicle suspension control as described in any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for coaxing an infant to sleep based on vehicle suspension control as claimed in any one of claims 1 to 10 are executed.

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