Generally, I agree with imani. "Stay woke" is a common phrase with an intentional twist on proper dialect referring to a constant awareness (most often) of covert injustice, unfair treatment, societal racism, discrimination, and the like. Erykah Badu is saying that she knows about these things, and can identify how they affect her and impact our society.
Just as people say, "Don't sleep on this," referring to how "this" could be missed, "staying woke" is about being aware of the negative cultural norms norms of our daily lives that many people overlook or explain away as insignificant.
Note: "Sleeping" on something is used much more broadly - can refer to anything from a new artist to a helpful product, and anything that isn't hyped up by the masses yet, but considered highly valuable.
