I do that too. My mind isn't racing, Im not upset. But I'll just lay there and won't be able to sleep. Luckily I have two toddlers who run me all day so majority of the time by the time I go to bed Im so exhausted I pass out. But, then I do that too. I usually just lay there and think of all the things I have to do the next day/week/month or about random boring things that lull me to sleep. I just bascially make sure not to think about anything upsetting, cause then Im up all night. Music helps a lot too. Hope you sleep better.