Semitrailer-based trailer brake control method and device and semitrailer

Abstract

The application discloses a trailer brake control method and device based on a semitrailer and the semitrailer. The method comprises the following steps: acquiring type information, running state information and posture information of the semitrailer, wherein the running state information at least comprises steering angle information, vehicle speed information and retarder torque information; judging whether the semitrailer has a folding dynamic of the trailer based on the type information, the running state information and the posture information; and generating a brake control strategy for controlling the trailer valve to brake the trailer of the semitrailer in the case that it is determined that the semitrailer has the folding dynamic of the trailer. The application solves the technical problem of folding of the trailer and the main vehicle caused by the trailer pushing the main vehicle.

Description

Technical Field

[0001] This invention relates to the field of semi-trailers, and more specifically, to a semi-trailer braking control method, device, and semi-trailer. Background Technology

[0002] Currently, tractor-trailers are the main type of vehicle used in road transportation, and mid-to-high-end tractor-trailers are equipped with retarders or electric motor energy recovery devices. When a commercial vehicle tractor-trailer train (with a semi-trailer) is traveling downhill or on a flat road, and the driver needs to slow down, the retarder or electric motor energy recovery device is usually activated to save costs and energy. The tractor-trailer decelerates due to the intervention of the retarder or energy recovery device. At this time, the tractor unit has brakes, but the trailer does not. The trailer may push the tractor unit, causing instability in the train. Especially when turning on slippery roads, activating the retarder or energy recovery device and having the trailer push the tractor unit could cause the trailer and tractor unit to fold over.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a trailer braking control method, device, and semi-trailer based on a semi-trailer, to at least solve the technical problem of trailer and tractor folding caused by the trailer pushing the tractor.

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

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

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

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

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

[0010] According to an embodiment of the present invention, a trailer braking control device based on a semi-trailer is provided, comprising: an acquisition module for acquiring semi-trailer type information, operating status information, and attitude information, wherein the operating status information includes at least: steering angle information, vehicle speed information, and retarder torque information; a judgment module for judging whether the semi-trailer has folding dynamics based on the type information, operating status information, and attitude information; and a braking control module for generating a braking control strategy when it is determined that the semi-trailer has folding dynamics, wherein the braking control strategy is used to brake the trailer of the semi-trailer.

[0011] Optionally, the acquisition module includes: a gateway module for identifying the type information of the semi-trailer; an ESC module for collecting the attitude information of the semi-trailer; and an operating status acquisition module for collecting the operating status information of the semi-trailer, wherein the operating status information includes at least: steering angle information, yaw rate information, vehicle speed information, and retarder torque information.

[0012] Optionally, the judgment module includes: a folding trend algorithm module, which is used to determine whether the semi-trailer has folding dynamics based on type information, operating status information and attitude information; the braking control module includes: an EBS control unit, which interacts with the folding trend algorithm module, the gateway module, the ESC module and the operating status acquisition module; 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 semi-trailer is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the method described in the above embodiment when running.

[0014] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0015] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0018] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0019] In this embodiment of the invention, by acquiring the semi-trailer's type information, operating status information, and attitude information, including key parameters such as steering angle, vehicle speed, and retarder torque, the system can monitor the trailer's operating status and dynamic changes in real time. This enables the system to respond quickly to changes in the trailer's status and promptly identify potential folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force by controlling the trailer valve to reduce the speed difference between the trailer and the tractor, thereby avoiding train instability and folding risks caused by the trailer pushing the tractor. This achieves the technical effect of improving driving safety and solves the technical problem of trailer and tractor folding caused by the trailer pushing the tractor. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic flowchart of an optional trailer braking control method based on a semi-trailer according to an embodiment of the present invention;

[0022] Figure 2This is a schematic diagram of an optional trailer braking control device based on a semi-trailer according to an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] It should be noted that the application scenario of this invention is when the vehicle is traveling downhill or on a flat road, and the driver activates the retarder or regenerative braking without applying the brakes. The tractor unit decelerates due to the retarder or regenerative braking, and the trailer may push the tractor unit, causing train instability. This pushing of the tractor unit could lead to separation between the tractor unit and the trailer. The control method of this invention is to apply a certain degree of automatic braking to the trailer individually under such conditions to prevent this risk of 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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

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

[0028] Step S102: Obtain the semi-trailer type information, operating status information, and attitude information. The operating status information includes at least the steering angle information, vehicle speed information, and retarder torque information.

[0029] The above-mentioned type information includes: tractor type information and trailer type information. The tractor type information includes new energy vehicles and traditional vehicles, and the trailer type information includes: EBS trailers, ABS trailers, trailers without ABS, and electric trailers.

[0030] The attitude information mentioned above includes: yaw rate and lateral acceleration.

[0031] The aforementioned operating status information includes: steering angle information, vehicle speed information, torque information of retarder or motor energy recovery, as well as throttle, brake status and gear information of the tractor and trailer.

[0032] Step S104: Based on type information, running status information, and attitude information, determine whether the semi-trailer has trailer folding dynamics.

[0033] Step S106: If it is determined that the semi-trailer has a folding dynamic of the trailer, a braking control strategy is generated. 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 acquiring information about the semi-trailer's type, operating status, and attitude, including key parameters such as steering angle, vehicle speed, and retarder torque, the system can monitor the trailer's operating status and dynamic changes in real time. This allows the system to respond quickly to changes in the trailer's status and promptly identify potential folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force by controlling the trailer valve to reduce the speed difference between it and the tractor unit, thus avoiding train instability and folding risks caused by the trailer pushing the tractor unit and improving driving safety.

[0035] It should be noted that step S104, which determines whether the semi-trailer has trailer folding dynamics based on type information, operating status information, and attitude information, specifically includes the following steps:

[0036] S1041, based on type information, operating status information, and attitude information, constructs a dynamic model between the trailer and the tractor.

[0037] The dynamic model described above may take into account: the distance and speed difference between the trailer and the tractor, the yaw rate and rate of change of lateral acceleration when the vehicle turns, the distribution of braking force on the train, and the impact of vehicle load on braking performance.

[0038] S1042, based on the dynamic model, calculates the dynamic response of the trailer relative to the tractor;

[0039] The above calculation of the trailer's dynamic response relative to the tractor includes:

[0040] Coupling force assessment: Monitor the force with which the trailer pushes the tractor. If excessive force is detected from the trailer pushing the tractor, it may indicate a risk of folding.

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

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

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

[0044] Step S1061: When it is determined that the semi-trailer has the folding dynamic of the trailer, a first braking control strategy is generated in the braking control strategy. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer.

[0045] Through the above steps, the first braking control strategy can immediately respond to and adjust the trailer's braking force based on the real-time monitoring of the vehicle's folding dynamics. Through continuous braking, it ensures that the speed difference and deceleration difference between the trailer and the tractor remain within a safe range, stabilizing the train's posture in a timely manner and preventing folding. By controlling the trailer valve to remain open continuously for a preset time, the trailer brakes will continuously apply braking force within a preset range, making the trailer deceleration process smoother and avoiding vehicle instability that may be caused by sudden, high-intensity braking forces, such as tail-wagging or sideslip.

[0046] Specifically, when the trailer is equipped with an LSV load-sensing valve or the trailer brakes are at a low temperature, the first braking control strategy in the braking control strategy is generated. This is because continuous braking can more smoothly adjust the braking force and avoid unnecessary brake lock-up.

[0047] Optionally, in step S106, if it is determined that the semi-trailer has folding dynamics, a braking control strategy is generated, including:

[0048] Step S1062: When it is determined that the semi-trailer has a folding dynamic, a second braking control strategy is generated in the braking control strategy. 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 steps described above, pulse braking avoids brake overheating caused by prolonged continuous braking by periodically applying and releasing braking force. Simultaneously, the trailer braking system can maintain effective control over trailer stability without continuously applying high-intensity braking force. This method reduces the risk of sudden brake lock-up and prevents unstable dynamic interactions between the trailer and the tractor, thereby avoiding folding accidents.

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

[0051] Optionally, in step S1061, if it is determined that the semi-trailer has trailer folding dynamics, a first braking control strategy in the braking control strategy is generated, including:

[0052] Step S10611: Obtain the temperature information of the trailer brake.

[0053] Step S10612: Determine whether the temperature information exceeds the preset threshold.

[0054] Step S10613: If the temperature information is determined to exceed the preset threshold, a third braking control strategy is generated in the braking control strategy. The third braking control strategy is used to control the trailer valve to close.

[0055] Based on the steps described above, by acquiring real-time temperature information of the trailer brakes, the system can monitor the thermal state of the brakes. When the temperature approaches or exceeds a preset threshold, a third braking control strategy is immediately generated, causing the trailer valve to close and stopping the braking effect on the trailer. This effectively avoids performance degradation or even failure of the trailer brakes due to overheating, ensuring the safety and reliability of the braking system. The system can automatically adjust the braking strategy according to changes in the temperature of the trailer brakes, achieving precise control of the trailer brakes and adapting to effective braking management under different operating conditions.

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

[0057] Step S10614: If the temperature information does not exceed the preset threshold, generate the first braking control strategy in the braking control strategy. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer.

[0058] When the brake temperature does not reach the overheat risk level, the system adopts a continuous braking strategy, which can make full use of the performance of the trailer brake to smoothly and continuously decelerate the trailer, ensuring that the train attitude can be stabilized in time through continuous braking when trailer folding occurs.

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

[0060] The method includes the following steps:

[0061] Step S102: Obtain the semi-trailer type information, operating status information, and attitude information. The operating status information includes at least the steering angle information, vehicle speed information, and retarder torque information.

[0062] The above-mentioned type information includes: tractor type information and trailer type information. The tractor type information includes new energy vehicles and traditional vehicles, and the trailer type information includes: EBS trailers, ABS trailers, trailers without ABS, and electric trailers.

[0063] Step S104: Based on type information, running status information, and attitude information, determine whether the semi-trailer has trailer folding dynamics.

[0064] Step S106: If it is determined that the semi-trailer has a folding dynamic of the trailer, a braking control strategy is generated. The braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

[0065] By acquiring information about the semi-trailer's type, operating status, and attitude, including key parameters such as steering angle, vehicle speed, and retarder torque, the system can monitor the trailer's operating status and dynamic changes in real time. This allows the system to respond quickly to changes in the trailer's status and promptly identify potential folding risks. The first braking control strategy ensures that the trailer receives sufficient braking force by controlling the trailer valve to reduce the speed difference between it and the tractor unit, thus avoiding train instability and folding risks caused by the trailer pushing the tractor unit and improving driving safety.

[0066] Optionally, the acquisition module 201 includes: a gateway module for identifying the type information of the semi-trailer; an ESC module for collecting the attitude information of the semi-trailer; and a running status acquisition module for collecting the running status information of the semi-trailer, wherein the running status information includes at least: steering angle information, yaw rate information, vehicle speed information, and retarder torque information.

[0067] Optionally, the judgment module includes: a folding trend algorithm module, which is used to determine whether the semi-trailer has folding dynamics based on type information, operating status information and attitude information; the braking control module includes: an EBS control unit, which interacts with the folding trend algorithm module, the gateway module, the ESC module and the operating status acquisition module; 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 analyzes the semi-trailer's dynamic behavior in real time using advanced algorithms based on trailer type information, operating status information (such as vehicle speed, steering angle, braking torque, etc.), and attitude information (such as yaw rate, lateral acceleration, etc.) to accurately determine 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, enabling timely measures to prevent accidents. Information exchange between the EBS control unit and the folding trend algorithm module, gateway module, ESC module, and operating status acquisition module enables multi-module collaborative work, ensuring the accuracy and effectiveness of the control strategy. The EBS control unit can intelligently adjust the trailer valve control parameters based on real-time data provided by other modules to brake the trailer in the most suitable way.

[0069] The information exchange 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. This improves the system's compatibility and versatility with different trailer models, making the control method widely applicable to various types of trailers and enhancing the system's market adaptability.

[0070] The ESC module contains longitudinal, transverse, and vertical acceleration sensors, which are responsible for providing vehicle attitude information.

[0071] The operational status acquisition module includes front wheel speed sensors, rear wheel speed sensors, brake pedal opening sensors, and steering wheel angle sensors.

[0072] The ESC module, front axle module, rear axle module, and gateway module are connected to the EBS control unit via a CAN bus. The front wheel speed sensors are connected to the front axle module, the rear wheel speed sensors are connected to the rear axle module, and the brake pedal opening sensor is connected to the EBS control unit. The trailer control valve is also connected to the EBS control unit. Control units for the engine, motor, transmission, retarder, steering wheel angle sensor, vehicle control unit, and driving information exchange information with the EBS control unit via the CAN bus.

[0073] Preferably, the gateway is used to identify the type of trailer control system. Currently, trailer electronic control systems on the market are mainly divided into three categories: EBS system, ABS system, and no electronic control system. The gateway determines the trailer type by exchanging data with the trailer system and transmits the information to the EBS control unit. The EBS control unit uses the calibrated optimal braking strategy for the trailer according to the trailer type.

[0074] According to an embodiment of the present invention, a semi-trailer is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the method of the above embodiment during runtime. The method includes the following steps:

[0075] Step S102: Obtain the semi-trailer type information, operating status information, and attitude information. The operating status information includes at least the steering angle information, vehicle speed information, and retarder torque information.

[0076] Step S104: Based on type information, running status information, and attitude information, determine whether the semi-trailer has trailer folding dynamics.

[0077] Step S106: If it is determined that the semi-trailer has a folding dynamic of the trailer, a braking control strategy is generated. The braking control strategy is used to control the trailer valve to brake the trailer of the semi-trailer.

[0078] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0079] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0080] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0081] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0082] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0084] The units described as separate components may or may not be physically separate. 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0087] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A trailer braking control method based on a semi-trailer, characterized in that, include: Acquire semi-trailer type information, operating status information, and attitude information, wherein the operating status information includes at least: steering angle information, vehicle speed information, and retarder torque information; Based on the type information, the operating status information, and the posture information, it is determined whether the semi-trailer has a trailer folding dynamic. When it is determined that the semi-trailer has a folding dynamic of the trailer, a braking control strategy is generated, which is used to control the trailer valve to brake the trailer of the semi-trailer. Given that the semi-trailer exhibits trailer folding dynamics, a braking control strategy is generated, including: When it is determined that the semi-trailer has a folding dynamic, a first braking control strategy is generated in the braking control strategy. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer. Given that the semi-trailer exhibits trailer folding dynamics, a braking control strategy is generated, including: When it is determined that the semi-trailer has a trailer folding dynamic, a second braking control strategy is generated in the braking control strategy. The second braking control strategy is used to control the trailer valve to alternately execute the open state and the closed state in order to perform pulse braking on the trailer. Given that the semi-trailer exhibits trailer folding dynamics, a first braking control strategy is generated within the braking control strategy, including: Obtain temperature information of the trailer brakes; Determine whether the temperature information exceeds a preset threshold; If the temperature information is determined to exceed the preset threshold, a third braking control strategy is generated in the braking control strategy, and the third braking control strategy is used to control the trailer valve to close. Determining whether the temperature information exceeds a preset threshold includes: If the temperature information is determined not to exceed a preset threshold, the first braking control strategy in the braking control strategy is generated. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer.

2. A trailer braking control device based on a semi-trailer, characterized in that, include: The acquisition module is used to acquire semi-trailer type information, operating status information, and attitude information, wherein the operating status information includes at least: steering angle information, vehicle speed information, and retarder torque information; The judgment module is used to determine whether the semi-trailer has a trailer folding dynamic based on the type information, the running status 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 a folding dynamic of the trailer, and the braking control strategy is used to brake the trailer of the semi-trailer. Given that the semi-trailer exhibits trailer folding dynamics, a braking control strategy is generated, including: When it is determined that the semi-trailer has a folding dynamic, a first braking control strategy is generated in the braking control strategy. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer. Given that the semi-trailer exhibits trailer folding dynamics, a braking control strategy is generated, including: When it is determined that the semi-trailer has a trailer folding dynamic, a second braking control strategy is generated in the braking control strategy. The second braking control strategy is used to control the trailer valve to alternately execute the open state and the closed state in order to perform pulse braking on the trailer. Given that the semi-trailer exhibits trailer folding dynamics, a first braking control strategy is generated within the braking control strategy, including: Obtain temperature information of the trailer brakes; Determine whether the temperature information exceeds a preset threshold; If the temperature information is determined to exceed the preset threshold, a third braking control strategy is generated in the braking control strategy, and the third braking control strategy is used to control the trailer valve to close. Determining whether the temperature information exceeds a preset threshold includes: If the temperature information is determined not to exceed a preset threshold, the first braking control strategy in the braking control strategy is generated. The first braking control strategy is used to control the trailer valve to be in the open state for a preset time so as to continuously brake the trailer.

3. The trailer braking control device based on a semi-trailer according to claim 2, characterized in that, The acquisition module includes: Gateway module, which is used to identify the type information of semi-trailers; The ESC module is used to collect the attitude information of the semi-trailer. The operating status acquisition module is used to collect the operating status information of the semi-trailer, wherein the operating status information includes at least: steering angle information, yaw rate information, vehicle speed information, and retarder torque information.

4. The trailer braking control device based on a semi-trailer according to claim 3, characterized in that, The judgment module includes a folding trend algorithm module, which is used to determine 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, which interacts with the folding trend algorithm module, the gateway module, the ESC module, and the operating status acquisition module. The EBS control unit is used to control the trailer valve to brake the trailer of the semi-trailer.

5. A semi-trailer, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method of claim 1.

6. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to claim 1.

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