A braking control method, device, equipment, and storage medium for traction trains.

Abstract

The present invention relates to a braking control method, device, equipment and storage medium for a traction train. The traction train includes a main vehicle with a driving device and a trailer without a driving device, including: real-time collection of deceleration, response delay time and trailer braking pressure during linear braking of the traction train, and creation of a deceleration sequence, a response delay time sequence and a trailer braking pressure sequence; calculation of the total braking force sequence of the trailer according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters; linear regression is performed according to the total braking force sequence and the trailer braking pressure sequence to obtain the total braking factor of the trailer; the response delay time sequence and the trailer braking pressure sequence are fitted to determine the corrected forward amount; and the braking of the traction train is controlled by the total braking factor of the trailer and the corrected forward amount. The present invention calculates the total braking force sequence and the corrected forward amount of the trailer, and controls the braking according to the total braking force sequence and the corrected forward amount to avoid failure of the main vehicle and the trailer caused by mismatch of the forward amount.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a braking control method, device, equipment and storage medium for a traction train. Background Art

[0002] A tractor is a large truck or semi-trailer that is towed by tools between the front and the carriage. A tractor can include a main vehicle and a trailer. The main vehicle is used to provide power and drive, and the trailer is used to carry goods. Due to the differences in power configuration and load weight between the main vehicle and the trailer, when the tractor brakes, the braking of the main vehicle and the trailer often become inconsistent, making the tractor prone to accidents such as folding, rollover and tail swinging.

[0003] In the prior art, mainstream vehicle manufacturers preset a fixed value for the trailer's forward displacement before leaving the factory. The main trailer adaptation is usually coordinated through the fixed value of the forward displacement (the increase in the air pressure at the trailer valve outlet compared to the air pressure at the input control port), thereby controlling the combined braking of the main vehicle and trailer.

[0004] However, the method of setting a fixed trailer forward amount in the prior art is difficult to adapt to trailers configured by many different manufacturers on the market. When the vehicle is unloaded, the trailer is often lighter. When a fixed forward amount is used, the wheels of the vehicle trailer are easily locked when the towing vehicle brakes compared to a fully loaded state, which can easily cause problems such as main trailer folding and tail swinging, affecting driving safety. Summary of the invention

[0005] In view of this, it is necessary to provide a braking control method, device, equipment and storage medium for a traction train, so as to solve the problem that the fixed forward amount control tractor brake set in the prior art cannot adapt to trailers configured by different manufacturers, resulting in the trailer wheels easily locking, which easily causes the main trailer to fold and skid.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a braking control method for a traction train, the traction train comprising a main vehicle having a driving device and a trailer without a driving device, comprising:

[0008] Collect the deceleration, response delay time and trailer brake pressure of the traction train in real time during linear braking, and create a deceleration sequence, response delay time sequence and trailer brake pressure sequence;

[0009] The total braking force sequence of the trailer is calculated based on the deceleration sequence, the operating calibration parameters of the traction train and the bus parameters;

[0010] The total braking factor of the trailer is obtained by linear regression based on the total braking force sequence and the trailer brake pressure sequence;

[0011] The response delay time series and the trailer brake air pressure series are fitted to determine the correction advance amount;

[0012] The braking of the traction train is controlled by the total braking factor of the trailer and the corrected overrun amount.

[0013] In some possible implementations, the resistance of the trailer includes air resistance, rolling resistance, ramp resistance and acceleration resistance; the total braking force sequence of the trailer is calculated according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters, including:

[0014] Calculate the driving force of the traction train according to the operation calibration parameters;

[0015] Calculate air resistance based on operating calibration parameters and bus parameters;

[0016] Calculate rolling resistance and ramp resistance based on running calibration parameters and bus parameters;

[0017] Calculate acceleration resistance based on running calibration parameters, bus parameters and deceleration sequence;

[0018] The total braking force sequence of the trailer is calculated based on the traction train driving force, air resistance, rolling resistance, ramp resistance and acceleration resistance.

[0019] In some possible implementations, the operation calibration parameters include engine torque, transmission ratio, final reducer ratio, mechanical efficiency of the transmission system, and tire rolling radius; and calculating the traction train driving force according to the operation calibration parameters includes:

[0020] The traction train driving force is calculated based on the engine torque, transmission ratio, final reducer ratio, mechanical efficiency of the transmission system and tire rolling radius.

[0021] In some possible implementations, the running calibration parameters further include an air resistance coefficient and a frontal area; the bus parameters include air density and a driving speed; and the air resistance is calculated according to the running calibration parameters and the bus parameters, including:

[0022] Calculate air resistance based on the drag coefficient, air density, driving speed and frontal area.

[0023] In some possible implementations, the operation calibration parameters further include a rolling resistance coefficient; the bus parameters further include a ramp angle, gravity acceleration, and a mass of a traction train; and the rolling resistance and the ramp resistance are calculated according to the operation calibration parameters and the bus parameters, including:

[0024] Calculate rolling resistance based on driving speed, ramp angle, gravitational acceleration, rolling resistance coefficient and traction train mass;

[0025] The ramp resistance is calculated based on the ramp angle, gravity acceleration, and the mass of the traction train.

[0026] In some possible implementations, the running calibration parameters further include a mass conversion coefficient; and calculating the acceleration resistance according to the running calibration parameters, the bus parameters, and the deceleration sequence includes:

[0027] The acceleration resistance is calculated based on the mass of the traction train, the mass conversion factor and the deceleration sequence.

[0028] In some possible implementations, linear regression is performed based on the total braking force sequence and the trailer brake pressure sequence to obtain the total braking factor of the trailer, including:

[0029] Obtaining the relationship function between the total braking force sequence, the trailer braking air pressure sequence and the trailer total braking factor;

[0030] The total braking factor of the trailer is obtained by linear regression based on the relationship function.

[0031] In a second aspect, the present invention further provides a braking control device for a traction train, comprising:

[0032] The acquisition module is used to collect the deceleration, response delay time and trailer brake pressure of the traction train during linear braking in real time, and create a deceleration sequence, a response delay time sequence and a trailer brake pressure sequence;

[0033] A calculation module, used for calculating the total braking force sequence of the trailer according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters;

[0034] A regression module is used to obtain a total braking factor of the trailer by performing linear regression based on a total braking force sequence and a trailer brake air pressure sequence;

[0035] A fitting module, used for fitting the response delay time series and the trailer brake air pressure series to determine the correction advance amount;

[0036] A control module is used to control the braking of the traction train through the total braking factor of the trailer and the correction overrun amount.

[0037] In a third aspect, the present invention further provides a braking control device for a traction train, comprising a memory and a processor, wherein:

[0038] Memory, used to store programs;

[0039] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the braking control method of the traction train in any of the above implementations.

[0040] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the braking control method for a traction train in any of the above-mentioned implementation modes.

[0041] The beneficial effects of adopting the above-mentioned embodiments are: the present invention relates to a braking control method, device, equipment and storage medium for a traction train, the traction train comprising a main vehicle with a driving device and a trailer without a driving device, including: real-time collection of deceleration, response delay time and trailer braking pressure during linear braking of the traction train, and creation of a deceleration sequence, a response delay time sequence and a trailer braking pressure sequence; calculation of a total braking force sequence of the trailer according to the deceleration sequence, the operating calibration parameters of the traction train and the bus parameters; linear regression of the total braking force sequence and the trailer braking pressure sequence to obtain a total braking factor of the trailer; fitting the response delay time sequence and the trailer braking pressure sequence to determine a corrected forward amount; and control of the braking of the traction train by the total braking factor of the trailer and the corrected forward amount. The present invention calculates the total braking force sequence and the corrected forward amount of the trailer through the deceleration sequence of the traction train, the response delay time sequence and the brake air pressure sequence of the trailer, and jointly controls the braking of the traction train according to the total braking force sequence and the corrected forward amount. The forward amount can be continuously corrected during the braking process, thereby avoiding the main vehicle and trailer folding, tail swinging and other problems caused by mismatch of the forward amount during the braking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of an embodiment of a braking control method for a traction train provided by the present invention;

[0043] Figure 2 The present invention provides Figure 1 A schematic diagram of a flow chart of an embodiment of step S102;

[0044] Figure 3 A schematic structural diagram of an embodiment of a brake control device for a tractor provided by the present invention;

[0045] Figure 4 A schematic structural diagram of a brake control device for a traction train provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0047] In the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0048] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] The present invention provides a braking control method, device, equipment and storage medium for a traction train, which are respectively described below.

[0050] See also Figure 1 , Figure 1 A schematic flow chart of an embodiment of a braking control method for a traction train provided by the present invention. A specific embodiment of the present invention discloses a braking control method for a traction train, wherein the traction train includes a main vehicle with a driving device and a trailer without a driving device, including:

[0051] S101, collecting the deceleration, response delay time and trailer brake pressure of the traction train during linear braking in real time, and creating a deceleration sequence, a response delay time sequence and a trailer brake pressure sequence;

[0052] S102, calculating a total braking force sequence of the trailer according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters;

[0053] S103, performing linear regression according to the total braking force sequence and the trailer braking air pressure sequence to obtain the trailer total braking factor;

[0054] S104, fitting the response delay time series and the trailer brake pressure series to determine the corrected forward amount;

[0055] S105. Control the braking of the traction train by using the total braking factor of the trailer and the corrected overrun amount.

[0056] In the above embodiment, the deceleration sequence, response delay time sequence and trailer brake air pressure sequence of the traction train during linear braking can be detected in real time by sensors. It should be noted that the sequence refers to a sequence of equal time intervals, and data is collected once at fixed time intervals. Therefore, the obtained data is called a sequence.

[0057] As a preferred embodiment, when the driver steps on the brake pedal, the on-board electronic control unit distributes the braking force to the front and rear axles after calculation based on the train mass and pedal travel signal, and then outputs a preset deceleration curve corresponding to the felt braking curve, that is, a deceleration curve corresponding to the pedal depth, thereby determining the deceleration of the traction train and creating a deceleration sequence.

[0058] The traction train is subjected to multiple forces during its travel. The force analysis of the traction train is carried out. The traction train will only decelerate when the resultant force of the traction train is opposite to the direction of the train. The total braking force of all the resultant forces of the traction train is analyzed and determined, and the total braking force sequence of the trailer is calculated based on the deceleration sequence and the operating calibration parameters of the traction train.

[0059] There is a linear relationship between the total braking force sequence and the trailer brake pressure sequence. Linear regression analysis of the total braking force sequence and the trailer brake pressure sequence is performed to determine the total braking factor of the trailer, which is the reason for the trailer to decelerate.

[0060] The deceleration of the trailer is also related to the forward movement of the trailer, and the response delay time series and the trailer brake pressure series determine the forward movement of the trailer. The corrected forward movement is calculated through the response delay time series and the trailer brake pressure series.

[0061] Compared with the prior art, the present embodiment provides a braking control method for a traction train, wherein the traction train includes a main car with a driving device and a trailer without a driving device, and comprises: real-time collection of deceleration, response delay time and trailer braking pressure during linear braking of the traction train, and creation of a deceleration sequence, a response delay time sequence and a trailer braking pressure sequence; calculation of a total braking force sequence of the trailer according to the deceleration sequence, the operating calibration parameters of the traction train and the bus parameters; linear regression is performed according to the total braking force sequence and the trailer braking pressure sequence to obtain a total braking factor of the trailer; fitting the response delay time sequence and the trailer braking pressure sequence to determine a corrected forward amount; and control of the braking of the traction train by the total braking factor of the trailer and the corrected forward amount. The present invention calculates the total braking force sequence and the corrected forward amount of the trailer through the deceleration sequence of the traction train, the response delay time sequence and the brake air pressure sequence of the trailer, and jointly controls the braking of the traction train according to the total braking force sequence and the corrected forward amount. The forward amount can be continuously corrected during the braking process, thereby avoiding the main vehicle and trailer folding, tail swinging and other problems caused by mismatch of the forward amount during the braking process.

[0062] See also Figure 2 , Figure 2 The present invention provides Figure 1 FIG. 1 is a flow chart of an embodiment of step S102 in FIG. 1 . In some embodiments of the present invention, the resistance of the trailer includes air resistance, rolling resistance, ramp resistance and acceleration resistance; and the total braking force sequence of the trailer is calculated according to the deceleration sequence and the operation calibration parameters of the traction train, including:

[0063] S201, calculating the driving force of the traction train according to the operation calibration parameters;

[0064] S202, calculating air resistance according to the operation calibration parameters and bus parameters;

[0065] S203, calculating rolling resistance and ramp resistance according to the running calibration parameters and bus parameters;

[0066] S204, calculating the acceleration resistance according to the running calibration parameters, bus parameters and deceleration sequence;

[0067] S205, calculating the total braking force sequence of the trailer according to the driving force of the traction train, air resistance, rolling resistance, ramp resistance and acceleration resistance.

[0068] In the above embodiment, the traction train is affected by five resistances, namely, air resistance, rolling resistance, slope resistance, acceleration resistance and the total braking force of the trailer, during the braking process. However, during the braking process, the traction train is still moving forward and still has driving force. Through force analysis, it can be known that the total braking force F generated by the trailer braking is b It is obtained by subtracting air resistance, rolling resistance, ramp resistance and acceleration resistance from the driving force of the traction train.

[0069] The operation calibration parameters of the traction train are some operation calibration parameters that can be directly obtained, and the present invention can directly use these parameters for calculation.

[0070] In some embodiments of the present invention, the operation calibration parameters include engine torque, transmission ratio, final reducer ratio, mechanical efficiency of the transmission system, and tire rolling radius; calculating the traction train driving force according to the operation calibration parameters includes:

[0071] The traction train driving force is calculated based on the engine torque, transmission ratio, final reducer ratio, mechanical efficiency of the transmission system and tire rolling radius.

[0072] In the above embodiment, the formula for calculating the driving force of the traction train is as follows:

[0073]

[0074] Among them, T tq is the engine torque, i g is the transmission ratio, i o is the main reducer transmission ratio, η T is the mechanical efficiency of the transmission system, and r is the rolling radius of the tire.

[0075] In some embodiments of the present invention, the running calibration parameters further include an air resistance coefficient and a frontal area; the bus parameters include air density and a driving speed; and calculating the air resistance according to the running calibration parameters and the bus parameters includes:

[0076] Calculate air resistance based on the drag coefficient, air density, driving speed and frontal area.

[0077] In the above embodiment, the air resistance calculation formula is as follows:

[0078]

[0079] Among them, C D is the air resistance coefficient, ρ is the air density, v is the driving speed, and A is the frontal area, that is, the projection area in the direction of vehicle travel.

[0080] In some embodiments of the present invention, the operation calibration parameters further include a rolling resistance coefficient; the bus parameters further include a ramp angle, gravity acceleration, and a mass of a traction train; and calculating the rolling resistance and the ramp resistance according to the operation calibration parameters and the bus parameters includes:

[0081] Calculate rolling resistance based on driving speed, ramp angle, gravitational acceleration, rolling resistance coefficient and traction train mass;

[0082] The ramp resistance is calculated based on the ramp angle, gravity acceleration, and the mass of the traction train.

[0083] In the above embodiment, the slope resistance calculation formula is as follows:

[0084] F i =Mgsinα;

[0085] The rolling resistance calculation formula is as follows:

[0086] F f =Mgfcosα;

[0087] Among them, g is the acceleration of gravity, M is the mass of the traction train, f is the rolling resistance coefficient, and α is the ramp angle.

[0088] The relationship between the ratio of slope height h to base length s and the ramp angle is:

[0089]

[0090] In some embodiments of the present invention, the operation calibration parameter further includes a mass conversion coefficient; and calculating the acceleration resistance according to the operation calibration parameter, the bus parameter and the deceleration sequence includes:

[0091] The acceleration resistance is calculated based on the mass of the traction train, the mass conversion factor and the deceleration sequence.

[0092] In the above embodiment, the acceleration resistance calculation formula is as follows:

[0093] F j =δMa;

[0094] Among them, δ is the mass conversion coefficient, and a is the speed at a specific moment in the deceleration sequence.

[0095] In some embodiments of the present invention, linear regression is performed based on the total braking force sequence and the trailer brake pressure sequence to obtain the total braking factor of the trailer, including:

[0096] Obtaining the relationship function between the total braking force sequence, the trailer braking air pressure sequence and the trailer total braking factor;

[0097] The total braking factor of the trailer is obtained by linear regression based on the relationship function.

[0098] In the above embodiment, the total braking force sequence F b The relationship function between (i), trailer brake pressure sequence P(i) and trailer total brake factor BF is as follows:

[0099] Fb(n)=BF T P(n)+e(n);

[0100] Among them, e(n) represents the deviation.

[0101] Determine the braking force sequence F b The loss function of trailer brake pressure sequence P(i) and trailer total brake factor BF is as follows:

[0102]

[0103] The total braking factor of the trailer is obtained by linear regression least squares:

[0104] BF=(P T P) -1 P T F b .

[0105] It should be noted that, considering the influence of factors such as vehicle vibration and sensor error, the deceleration is subjected to first-order filtering and noise reduction, as follows:

[0106] a k =βa k-1 +(1-β)a k ;

[0107] Among them, β is the first-order filter coefficient, a k is the deceleration at the current moment, a k-1 is the deceleration at the previous moment.

[0108] In order to better implement the braking control method of the tractor in the embodiment of the present invention, based on the braking control method of the tractor, correspondingly, please refer to Figure 3 , Figure 3This is a schematic structural diagram of an embodiment of a brake control device for a tractor provided by the present invention. The embodiment of the present invention provides a brake control device 300 for a tractor, comprising:

[0109] The acquisition module 310 is used to acquire the deceleration, response delay time and trailer brake pressure of the traction train during linear braking in real time, and to create a deceleration sequence, a response delay time sequence and a trailer brake pressure sequence;

[0110] A calculation module 320, for calculating a total braking force sequence of the trailer according to the deceleration sequence and the operation calibration parameters of the traction train;

[0111] A regression module 330 is used to perform linear regression according to the total braking force sequence and the trailer brake pressure sequence to obtain the trailer total braking factor;

[0112] A fitting module 340 is used to fit the response delay time series and the trailer brake pressure series to determine the correction advance amount;

[0113] The control module 350 is used to control the braking of the traction train through the total braking factor of the trailer and the corrected overrun amount.

[0114] It should be noted here that: the device 300 provided in the above embodiment can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above method embodiments, which will not be repeated here.

[0115] See also Figure 4 , Figure 4 A schematic diagram of the structure of a braking control device for a traction train provided by an embodiment of the present invention. Based on the above-mentioned braking control method for a traction vehicle, the present invention also provides a braking control device for a traction vehicle, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The braking control device 400 for a traction vehicle includes a processor 410, a memory 420, and a display 430. Figure 4 Only some components of the brake control device of the traction train are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0116] In some embodiments, the memory 420 may be an internal storage unit of the brake control device 400 of the tractor, such as a hard disk or memory of the brake control device 400 of the tractor. In other embodiments, the memory 420 may also be an external storage device of the brake control device 400 of the tractor, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the brake control device 400 of the tractor. Further, the memory 420 may also include both an internal storage unit of the brake control device 400 of the tractor and an external storage device. The memory 420 is used to store application software and various data installed in the brake control device 400 of the tractor, such as program codes of the brake control device 400 of the tractor. The memory 420 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a braking control program 440 of a tractor is stored in the memory 420 , and the braking control program 440 of the tractor can be executed by the processor 410 , thereby implementing the braking control method of the tractor in each embodiment of the present application.

[0117] In some embodiments, the processor 410 may be a central processing unit (CPU), a microprocessor or other data processing chip, which is used to run program codes or process data stored in the memory 420, such as executing a braking control method for a tractor.

[0118] In some embodiments, the display 430 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 430 is used to display information on the brake control device 400 of the tractor and to display a visual user interface. The components 410-430 of the brake control device 400 of the tractor communicate with each other via a system bus.

[0119] In one embodiment, when the processor 410 executes the braking control program 440 of the tractor in the memory 420 , the steps in the braking control method of the tractor are implemented.

[0120] This embodiment also provides a computer-readable storage medium, on which a braking control program of a tractor is stored. When the braking control program of the tractor is executed by a processor, the following steps are implemented:

[0121] Collect the deceleration, response delay time and trailer brake pressure of the traction train in real time during linear braking, and create a deceleration sequence, response delay time sequence and trailer brake pressure sequence;

[0122] The total braking force sequence of the trailer is calculated based on the deceleration sequence, the operating calibration parameters of the traction train and the bus parameters;

[0123] The total braking factor of the trailer is obtained by linear regression based on the total braking force sequence and the trailer brake pressure sequence;

[0124] The response delay time series and the trailer brake air pressure series are fitted to determine the correction advance amount;

[0125] The braking of the traction train is controlled by the total braking factor of the trailer and the corrected overrun amount.

[0126] In summary, the present embodiment provides a braking control method, device, equipment and storage medium for a traction train, wherein the traction train includes a main vehicle with a driving device and a trailer without a driving device, including: real-time collection of the deceleration, response delay time and brake air pressure of the trailer during linear braking of the traction train, and creation of a deceleration sequence, a response delay time sequence and a trailer brake air pressure sequence; calculating the total braking force sequence of the trailer according to the deceleration sequence, the operating calibration parameters of the traction train and the bus parameters; performing linear regression based on the total braking force sequence and the trailer brake air pressure sequence to obtain the total braking factor of the trailer; fitting the response delay time series and the trailer brake air pressure sequence to determine the corrected forward amount; controlling the braking of the traction train by the total braking factor of the trailer and the corrected forward amount. The present invention calculates the total braking force sequence and the corrected forward amount of the trailer through the deceleration sequence of the traction train, the response delay time sequence and the brake air pressure sequence of the trailer, and jointly controls the braking of the traction train according to the total braking force sequence and the corrected forward amount. The forward amount can be continuously corrected during the braking process, thereby avoiding the main vehicle and trailer folding, tail swinging and other problems caused by mismatch of the forward amount during the braking process.

[0127] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A braking control method for a traction train, the traction train comprising a main vehicle with a driving device and a trailer without a driving device, characterized in that: The method comprises: Collect the deceleration, response delay time and trailer brake pressure of the traction train in real time during linear braking, and create a deceleration sequence, response delay time sequence and trailer brake pressure sequence; Calculating a total braking force sequence of the trailer according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters; Performing linear regression based on the total braking force sequence and the trailer brake air pressure sequence to obtain a total trailer braking factor; Fitting the response delay time series and the trailer brake air pressure series to determine the corrected forward amount; The braking of the traction train is controlled by the total braking factor of the trailer and the corrected overrun amount.

2. The braking control method of a traction train according to claim 1, characterized in that: The resistance of the trailer includes air resistance, rolling resistance, ramp resistance and acceleration resistance; the total braking force sequence of the trailer is calculated according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters, including: Calculating the driving force of the traction train according to the operation calibration parameters; Calculating the air resistance according to the operation calibration parameter and the bus parameter; Calculate the rolling resistance and the ramp resistance according to the operation calibration parameters and the bus parameters; Calculating the acceleration resistance according to the operation calibration parameter, the bus parameter and the deceleration sequence; The total braking force sequence of the trailer is calculated according to the traction train driving force, the air resistance, the rolling resistance, the slope resistance and the acceleration resistance.

3. The braking control method of a traction train according to claim 2, characterized in that: The operation calibration parameters include engine torque, transmission ratio, final reducer ratio, mechanical efficiency of the transmission system, and tire rolling radius; the calculation of the traction train driving force according to the operation calibration parameters includes: The traction train driving force is calculated based on the engine torque, the transmission ratio, the final drive ratio, the mechanical efficiency of the transmission system and the tire rolling radius.

4. The braking control method of a traction train according to claim 2, characterized in that: The operation calibration parameters also include air resistance coefficient and windward area; the bus parameters include air density and driving speed; The calculating the air resistance according to the operation calibration parameter and the bus parameter comprises: The air resistance is calculated based on the air resistance coefficient, the air density, the driving speed, and the frontal area.

5. The braking control method of a traction train according to claim 4, characterized in that: The operation calibration parameters also include a rolling resistance coefficient; the bus parameters also include a ramp angle, gravity acceleration, and a traction train mass; and the rolling resistance and the ramp resistance are calculated according to the operation calibration parameters and the bus parameters, including: Calculating the rolling resistance according to the driving speed, the ramp angle, the gravitational acceleration, the rolling resistance coefficient and the mass of the traction train; The ramp resistance is calculated based on the ramp angle, the gravitational acceleration, and the mass of the traction train.

6. The braking control method of a traction train according to claim 5, characterized in that: The operation calibration parameters also include a mass conversion coefficient; the calculation of the acceleration resistance according to the operation calibration parameters, the bus parameters and the deceleration sequence includes: The acceleration resistance is calculated according to the mass of the traction train, the mass conversion coefficient and the deceleration sequence.

7. The braking control method of a traction train according to claim 1, characterized in that: The method of performing linear regression based on the total braking force sequence and the trailer brake air pressure sequence to obtain the trailer total braking factor includes: Obtaining a relationship function among the total braking force sequence, the trailer braking air pressure sequence and the trailer total braking factor; The total braking factor of the trailer is obtained by performing linear regression according to the relationship function.

8. A braking control device for a traction train, characterized in that: include: The acquisition module is used to collect the deceleration, response delay time and trailer brake pressure of the traction train during linear braking in real time, and create a deceleration sequence, a response delay time sequence and a trailer brake pressure sequence; A calculation module, used for calculating a total braking force sequence of the trailer according to the deceleration sequence, the operation calibration parameters of the traction train and the bus parameters; A regression module, used for performing linear regression according to the total braking force sequence and the trailer brake pressure sequence to obtain a total braking factor of the trailer; A fitting module, used for fitting the response delay time series and the trailer brake air pressure series to determine the correction advance amount; A control module is used to control the braking of the traction train through the total braking factor of the trailer and the corrected overrun amount.

9. A braking control device for a traction train, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the braking control method for a traction train as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the braking control method for a traction train as described in any one of claims 1 to 7.

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