Trailer brake control method and device based on semitrailer and trailer truck

Abstract

The invention discloses a trailer brake control method and device based on a semitrailer and a trailer. The method comprises the steps that type information, operation state information and attitude information of the semitrailer are obtained, and the operation state information at least comprises steering angle information, vehicle speed information and retarder torque information; based on the type information, the operation state information and the attitude information, whether the semitrailer has the folding dynamic state of the semitrailer or not is judged; in a case where it is determined that the semitrailer has the folding dynamics of the trailer, a brake control strategy is generated for controlling the trailer valve to brake the trailer of the semitrailer. The technical problem that the trailer and the main vehicle are folded due to the fact that the trailer pushes the main vehicle is solved.

Description

Technical Field

[0001] The present invention relates to the field of semi-trailers, and in particular to a trailer braking control method and device based on a semi-trailer, and a trailer. Background Art

[0002] At present, tractors are the main models for road transportation. Medium and high-end configuration tractors are equipped with retarders or motor energy recovery devices. When a commercial vehicle tractor train (with a semi-trailer) is traveling downhill or on a flat road, when the driver needs to slow down, in order to save costs and energy, the retarder or motor energy recovery is usually turned on. The tractor slows down due to the intervention of the retarder or motor energy recovery. At this time, the main vehicle is braked, but the trailer is not braked. The trailer may push the main vehicle and cause the train to be unstable. Especially when turning on slippery roads, turning on the retarder or motor energy recovery, and the trailer pushing the main vehicle may cause the trailer and the main vehicle to fold.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a trailer braking control method and device based on a semitrailer and a trailer-handling vehicle, so as to at least solve the technical problem of the trailer and the main vehicle being folded due to the trailer pushing the main vehicle.

[0005] According to one aspect of an embodiment of the present invention, a trailer braking control method based on a semi-trailer is provided, comprising: obtaining type information, operating status information, and posture information of the semi-trailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information; based on the type information, the operating status information, and the posture information, determining whether the semi-trailer has the folding dynamics of a trailer; and generating a braking control strategy when it is determined that the semi-trailer has the folding dynamics of a trailer, the braking control strategy being used to control a trailer valve to brake the trailer of the semi-trailer.

[0006] Optionally, when it is determined that the semi-trailer has the folding dynamics of a trailer, a braking control strategy is generated, including: when it is determined that the semi-trailer has the folding dynamics of a trailer, a first braking control strategy is generated in the braking control strategy, and the first braking control strategy is used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

[0007] Optionally, when it is determined that the semi-trailer has the folding dynamics, a braking control strategy is generated, including: when it is determined that the semi-trailer has the folding dynamics of a trailer, a second braking control strategy is generated in the braking control strategy, and the second braking control strategy is used to control the trailer valve to alternately execute the open state and the closed state to perform pulse braking on the trailer.

[0008] Optionally, when it is determined that the semi-trailer has the folding dynamics of a trailer, a first braking control strategy in the braking control strategy is generated, including: obtaining temperature information of the trailer brake; determining whether the temperature information exceeds a preset threshold; when it is determined that the temperature information exceeds the preset threshold, a third braking control strategy in the braking control strategy is generated, and the third braking control strategy is used to control the closing of the trailer valve.

[0009] Optionally, determining whether the temperature information exceeds a preset threshold includes: when it is determined that the temperature information does not exceed the preset threshold, generating a first braking control strategy in the braking control strategy, the first braking control strategy being used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

[0010] According to an embodiment of the present invention, a trailer brake control device based on a semitrailer is provided, comprising: an acquisition module, the acquisition module is used to acquire type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information; a judgment module, the judgment module is used to judge whether the semitrailer has a folding dynamic based on the type information, operating status information and posture information; a braking control module, the braking control module is used to generate a braking control strategy when it is determined that the semitrailer has a folding dynamic, and the braking control strategy is used to brake the trailer of the semitrailer.

[0011] Optionally, the acquisition module includes: a gateway module, which is used to identify the type information of the semi-trailer; an ESC module, which is used to collect the posture information of the semi-trailer; and an operating status acquisition module, which is used to collect the operating status information of the semi-trailer, wherein the operating status information at least includes: steering angle information, yaw angular velocity information, vehicle speed information, and retarder torque information.

[0012] Optionally, the judgment module includes: a folding trend algorithm module, the folding trend algorithm module is used to judge whether the semi-trailer has folding dynamics based on type information, operating status information and posture information, and the braking control module includes: an EBS control unit, the EBS control unit interacts with the folding trend algorithm module, the gateway module, the ESC module, and the operating status acquisition module, and the EBS control unit is used to control the trailer valve to brake the trailer of the semi-trailer.

[0013] According to an embodiment of the present invention, a semitrailer is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the method of the above embodiment is executed when the program is running.

[0014] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0015] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0017] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0018] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0019] In an embodiment of the present invention, by acquiring the type information, operating status information and posture information of the semi-trailer, including key parameters such as steering angle, vehicle speed, retarder torque, etc., the operating status and dynamic changes of the trailer can be monitored in real time, which enables the system to respond quickly to changes in the trailer status and promptly identify possible folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force to reduce the speed difference with the main vehicle by controlling the opening of the trailer valve, thereby achieving the purpose of avoiding train instability and folding risks caused by the trailer pushing the main vehicle, thereby achieving the technical effect of improving driving safety, and further solving the technical problem of the folding of the trailer and the main vehicle caused by the trailer pushing the main vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a flow chart of an optional trailer braking control method based on a semitrailer according to an embodiment of the present invention;

[0022] Figure 2It is a schematic structural diagram of an optional trailer brake control device based on a semitrailer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] It should be noted that the application scenario of the present invention is that when the vehicle is driving downhill or on a flat road, the driver turns on the retarder or motor energy recovery without stepping on the brake, and the tractor slows down due to the intervention of the retarder or motor energy recovery braking. The trailer may push the main vehicle and cause the train to be unstable. The trailer pushes the main vehicle, which may cause the main vehicle and the trailer to be folded. The control method of the present invention is to perform a certain degree of automatic braking on the trailer alone under such working conditions to prevent the risk of such train loss of control.

[0026] According to an embodiment of the present invention, a method embodiment of a trailer braking control method based on a semi-trailer is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] Figure 1 is a method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0028] Step S102, obtaining type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information;

[0029] The above-mentioned type information includes: main vehicle type information and trailer type information, wherein the main vehicle type information includes new energy vehicles and traditional vehicles, and the trailer type information includes: EBS trailer, ABS trailer, non-ABS trailer, and electric trailer.

[0030] The above-mentioned attitude information includes: yaw angular velocity and lateral acceleration.

[0031] The above-mentioned operating status information includes: steering angle information, vehicle speed information, torque information of retarder or motor energy recovery, and throttle, brake status and gear information of the main vehicle and trailer.

[0032] Step S104, judging whether the semi-trailer has the folding dynamics of the trailer based on the type information, the running state information and the posture information;

[0033] Step S106, when it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, and the braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

[0034] Through the above steps, by obtaining the type information, operating status information and posture information of the semi-trailer, including key parameters such as steering angle, vehicle speed, retarder torque, etc., the operating status and dynamic changes of the trailer can be monitored in real time, which enables the system to respond quickly to changes in the trailer status and promptly identify possible folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force by controlling the opening of the trailer valve to reduce the speed difference with the main vehicle, avoid train instability and folding risks caused by the trailer pushing the main vehicle, and improve driving safety.

[0035] It should be noted that step S104, based on the type information, the running state information and the posture information, determines whether the semi-trailer has the folding dynamics of the trailer, specifically includes the following steps:

[0036] S1041, constructing a dynamic model between the trailer and the main vehicle based on the type information, the operating status information, and the posture information.

[0037] The above dynamic model may take into account: the distance and speed difference between the trailer and the main vehicle, the yaw rate and lateral acceleration change rate of the vehicle when turning, the distribution of braking force on the train and the influence of vehicle load on braking effect.

[0038] S1042, calculating the dynamic response of the trailer relative to the main vehicle based on the dynamic model;

[0039] The above calculation of the dynamic response of the trailer relative to the main vehicle includes:

[0040] Coupling force assessment: monitors the force of the trailer pushing the main vehicle. If it is detected that the trailer pushes the main vehicle too much, it may indicate a risk of folding.

[0041] Stability boundary judgment: Define a safe driving boundary based on vehicle speed, steering angle, lateral acceleration and other parameters. If the dynamic response of the trailer exceeds this boundary, it is determined that there is a risk of collapse.

[0042] Braking efficiency analysis: Analyze the temperature and braking efficiency of the trailer brakes to prevent the trailer dynamics from being unable to be effectively controlled due to overheating or reduced efficiency of the brakes.

[0043] Optionally, in step S106, when it is determined that the semitrailer has the folding dynamics of a trailer, a braking control strategy is generated, including:

[0044] Step S1061, when it is determined that the semi-trailer has the folding dynamics of the trailer, a first braking control strategy in the braking control strategy is generated, and the first braking control strategy is used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

[0045] Through the above steps, the first braking control strategy can immediately respond and adjust the braking force of the trailer according to the folding dynamics monitored by the vehicle in real time, and through continuous braking, ensure that the speed difference and deceleration difference between the trailer and the main vehicle are kept within a safe range, stabilize the train posture in time, and prevent folding. By controlling the trailer valve to be continuously opened within a preset time, the trailer brake will continue to apply a braking force within a preset range, making the trailer deceleration process smoother and avoiding sudden, high-intensity braking forces that may cause vehicle instability, such as tail swinging and side sliding.

[0046] Specifically, when the trailer is equipped with an LSV load sensing valve or the temperature of the trailer brake is low, the first braking control strategy among the braking control strategies is generated, because continuous braking can adjust the braking force more smoothly and avoid unnecessary brake locking.

[0047] Optionally, in step S106, when it is determined that the semitrailer has a folding dynamic state, a braking control strategy is generated, including:

[0048] Step S1062, when it is determined that the semi-trailer has the folding dynamics of the trailer, a second braking control strategy in the braking control strategy is generated, and the second braking control strategy is used to control the trailer valve to alternately execute the open state and the closed state to perform pulse braking on the trailer.

[0049] Through the above steps, pulse braking avoids brake overheating caused by long-term continuous braking by periodically applying and releasing braking force. At the same time, the trailer braking system can maintain effective control of trailer stability without continuously applying high-intensity braking force. This method can reduce the risk of sudden locking of the trailer braking system, prevent unstable dynamic interaction between the trailer and the main vehicle, and thus avoid the occurrence of folding accidents.

[0050] Specifically, when the trailer is not equipped with an LSV load sensing valve or the temperature of the trailer brake is high, the second brake control strategy is generated because pulse braking can reduce the thermal load of the brake while maintaining necessary stability control.

[0051] Optionally, in step S1061, when it is determined that the semitrailer has the folding dynamics of the trailer, generating a first braking control strategy among the braking control strategies includes:

[0052] Step S10611, obtaining the temperature information of the trailer brake.

[0053] Step S10612, determining whether the temperature information exceeds a preset threshold.

[0054] Step S10613: When it is determined that the temperature information exceeds a preset threshold, a third braking control strategy in the braking control strategy is generated, and the third braking control strategy is used to control the trailer valve to close.

[0055] According to the above steps, by acquiring the temperature information of the trailer brake in real time, the system can monitor the thermal state of the brake. When the temperature approaches or exceeds the preset threshold, the third brake control strategy is immediately generated to close the trailer valve and stop the braking action on the trailer. This effectively avoids the performance degradation or even failure of the trailer brake due to overheating, ensuring the safety and reliability of the braking system. The system can automatically adjust the braking strategy according to the temperature change of the trailer brake, realize the refined control of the trailer brake, and adapt to the effective braking management under different working conditions.

[0056] Optionally, step S10612, determining whether the temperature information exceeds a preset threshold includes:

[0057] Step S10614, when it is determined that the temperature information does not exceed the preset threshold, a first braking control strategy in the braking control strategy is generated, and the first braking control strategy is used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

[0058] When the brake temperature does not reach the overheating risk level, the system adopts a continuous braking strategy, which can fully utilize the performance of the trailer brakes to smoothly and continuously decelerate the trailer, ensuring that when the trailer folding dynamics occur, the train posture can be stabilized in time through continuous braking.

[0059] like Figure 2 As shown, according to an embodiment of the present invention, a trailer braking control device based on a semitrailer is provided, including: an acquisition module 201, the acquisition module is used to acquire type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information; a judgment module 202, the judgment module is used to judge whether the semitrailer has a folding dynamic of the trailer based on the type information, operating status information and posture information; a braking control module 203, the braking control module is used to generate a braking control strategy when it is determined that the semitrailer has a folding dynamic, and the braking control strategy is used to brake the trailer of the semitrailer.

[0060] The method comprises the following steps:

[0061] Step S102, obtaining type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information;

[0062] The above-mentioned type information includes: main vehicle type information and trailer type information, wherein the main vehicle type information includes new energy vehicles and traditional vehicles, and the trailer type information includes: EBS trailer, ABS trailer, non-ABS trailer, and electric trailer.

[0063] Step S104, judging whether the semi-trailer has the folding dynamics of the trailer based on the type information, the running state information and the posture information;

[0064] Step S106, when it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, and the braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

[0065] By acquiring the type information, operating status information and posture information of the semi-trailer, including key parameters such as steering angle, vehicle speed, retarder torque, etc., the operating status and dynamic changes of the trailer can be monitored in real time. This enables the system to respond quickly to changes in the trailer status and promptly identify possible folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force by controlling the opening of the trailer valve to reduce the speed difference with the main vehicle, avoid train instability and folding risks caused by the trailer pushing the main vehicle, and improve driving safety.

[0066] Optionally, the acquisition module 201 includes: a gateway module, which is used to identify the type information of the semi-trailer; an ESC module, which is used to collect the posture information of the semi-trailer; and an operating status acquisition module, which is used to collect the operating status information of the semi-trailer, wherein the operating status information at least includes: steering angle information, yaw angular velocity information, vehicle speed information, and retarder torque information.

[0067] Optionally, the judgment module includes: a folding trend algorithm module, the folding trend algorithm module is used to judge whether the semi-trailer has folding dynamics based on type information, operating status information and posture information, and the braking control module includes: an EBS control unit, the EBS control unit interacts with the folding trend algorithm module, the gateway module, the ESC module, and the operating status acquisition module, and the EBS control unit is used to control the trailer valve to brake the trailer of the semi-trailer.

[0068] The folding trend algorithm module uses advanced algorithms to analyze the dynamic behavior of the semi-trailer in real time based on trailer type information, operating status information (such as vehicle speed, steering angle, braking torque, etc.) and posture information (such as yaw angular velocity, lateral acceleration, etc.), and accurately judges whether there is a risk of folding. This intelligent decision-making process significantly improves the system's adaptability and response speed to complex working conditions, and can take timely measures to prevent accidents. The information interaction between the EBS control unit and the folding trend algorithm module, gateway module, ESC module, and operating status acquisition module realizes multi-module collaborative work and ensures the accuracy and effectiveness of the control strategy. The EBS control unit can intelligently adjust the control parameters of the trailer valve based on the real-time data provided by other modules to brake the trailer in the most suitable way.

[0069] The information interaction between the EBS control unit and the gateway module enables the system to identify different trailer configurations (such as whether there is ABS, EBS or LSV load sensing valve) and adjust the braking strategy accordingly, improving the system's compatibility and versatility with different trailer types, making the control method widely applicable to various types of trailers and enhancing the system's market adaptability.

[0070] The ESC module contains three-axis acceleration sensors, which are responsible for providing vehicle posture information.

[0071] The operating status acquisition module includes front wheel speed sensor, rear wheel speed sensor, brake pedal opening sensor, steering wheel angle sensor, etc.

[0072] Among them, the ESC module, front axle module, rear axle module, and gateway module are connected to the EBS control unit through the CAN line. The front wheel speed sensor is connected to the front axle module, the rear wheel speed sensor is connected to the rear axle module, and the brake pedal opening sensor is connected to the EBS control unit. The trailer control valve is connected to the EBS control unit. The engine, motor, gearbox, retarder, steering wheel angle sensor, vehicle control unit, driving information and other control units exchange information with the EBS control unit through the CAN bus.

[0073] Preferably, the gateway is used to identify the category of trailer control system. Currently, the trailer electronic control systems on the market are mainly divided into three categories: EBS system, ABS system, and non-electronic control system. The gateway exchanges data with the trailer system to determine the trailer type and transmits the information to the EBS control unit. The EBS control unit uses the calibrated optimal trailer braking strategy for control according to the trailer type.

[0074] According to an embodiment of the present invention, a semitrailer is provided, comprising: a memory storing an executable program; a processor for running the program, wherein the method of the above embodiment is executed when the program is running. The method comprises the following steps:

[0075] Step S102, obtaining type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information;

[0076] Step S104, judging whether the semi-trailer has the folding dynamics of the trailer based on the type information, the running state information and the posture information;

[0077] Step S106, when it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, and the braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

[0078] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0079] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0080] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0081] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0082] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0084] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0085] In addition, each functional unit in each embodiment of the present invention 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0086] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0087] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A trailer braking control method based on a semitrailer, characterized in that: include: Acquire type information, operating status information, and posture information of the semitrailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information; Based on the type information, the operating state information and the posture information, determining whether the semitrailer has a trailer folding dynamic; In the case where it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, wherein the braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

2. The trailer braking control method based on a semitrailer according to claim 1, characterized in that: In the case where it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, including: When it is determined that the semi-trailer has the folding dynamics of the trailer, a first braking control strategy in the braking control strategies is generated, and the first braking control strategy is used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

3. The trailer braking control method based on a semitrailer according to claim 1, characterized in that: In the case where it is determined that the semi-trailer has the folding dynamics of the trailer, a braking control strategy is generated, including: When it is determined that the semi-trailer has the folding dynamics of the trailer, a second braking control strategy in the braking control strategy is generated, and the second braking control strategy is used to control the trailer valve to alternately execute the open state and the closed state to perform pulse braking on the trailer.

4. The trailer braking control method based on a semitrailer according to claim 2, characterized in that: In the case where it is determined that the semi-trailer has the folding dynamics of the trailer, generating a first braking control strategy among the braking control strategies, including: Get trailer brake temperature information; Determining whether the temperature information exceeds a preset threshold; When it is determined that the temperature information exceeds the preset threshold, a third braking control strategy among the braking control strategies is generated, and the third braking control strategy is used to control the trailer valve to close.

5. The trailer braking control method based on a semitrailer according to claim 4, characterized in that: Determining whether the temperature information exceeds a preset threshold includes: When it is determined that the temperature information does not exceed a preset threshold, the first braking control strategy in the braking control strategy is generated, and the first braking control strategy is used to control the trailer valve to be in an open state within a preset time to continuously brake the trailer.

6. A trailer brake control device based on a semitrailer, characterized in that: include: An acquisition module, the acquisition module is used to acquire type information, operating status information, and posture information of the semi-trailer, wherein the operating status information at least includes: steering angle information, vehicle speed information, and retarder torque information; A judgment module, the judgment module is used to judge whether the semi-trailer has a folding dynamic of a trailer based on the type information, the running state information and the posture information; A braking control module is used to generate a braking control strategy when it is determined that the semi-trailer has the folding dynamics of the trailer, and the braking control strategy is used to brake the trailer of the semi-trailer.

7. The trailer brake control device based on a semitrailer according to claim 6, characterized in that: The acquisition module comprises: A gateway module, the gateway module is used to identify the type information of the semi-trailer; An ESC module, the ESC module is used to collect posture information of the semi-trailer; The operating status acquisition module is used to collect operating status information of the semi-trailer, wherein the operating status information at least includes: steering angle information, yaw angular velocity information, vehicle speed information, and retarder torque information.

8. The trailer brake control device based on a semitrailer according to claim 7, characterized in that: The judgment module includes: a folding trend algorithm module, the folding trend algorithm module is used to judge whether the semi-trailer has folding dynamics based on the type information, the operating status information and the posture information, the braking control module includes: an EBS control unit, the EBS control unit exchanges information with the folding trend algorithm module, the gateway module, the ESC module, and the operating status acquisition module, and the EBS control unit is used to control the trailer valve to brake the trailer of the semi-trailer.

9. A semi-trailer, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 5 when running.

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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