Method, system and equipment for monitoring braking time sequence of double-trailer train

Abstract

The invention discloses a braking time sequence monitoring method, system and equipment for a double-trailer train, and the method comprises the steps: obtaining the historical driving data of the double-trailer train; wherein the historical driving data comprises the speed of each wheel, the turning angle of a steering wheel and a braking signal; determining a braking moment according to the braking signal, and determining a calculation time domain according to the braking moment; in the calculation time domain, a compliance speed set meeting preset conditions is determined according to the rotation angle of the steering wheel and a braking signal; determining a braking completion moment corresponding to each wheel according to the compliance speed set; and determining a braking time sequence corresponding to each wheel according to the braking completion time and the braking time. Therefore, the historical driving data of the double-trailer train is acquired to monitor the braking time sequence in the full life cycle use process of the double-trailer train, so that the braking system is evaluated from the dimension of the braking time sequence and is further optimized.

Description

Technical Field

[0001] The present application relates to the field of traffic engineering, and in particular to a method, system and equipment for monitoring the braking sequence of a double-trailer train. Background Art

[0002] Semi-trailer trains effectively improve transportation efficiency, reduce fuel consumption, and offer excellent economic benefits. Currently, semi-trailer trains are the primary mode of transport for bulk cargo in China. To further enhance transportation efficiency, pilot applications of double-trailer trains have been launched in some regions. Because double-trailer trains incorporate an additional trailer into existing single-trailer trains, safety control strategies such as steering stability and braking become more complex and challenging, potentially leading to more serious traffic accidents.

[0003] The performance of the braking system plays a crucial role in the braking stability of double-trailer trains. To improve the braking stability of double-trailer trains during operation, the braking system needs to be optimized, particularly by monitoring the braking sequence. However, existing regulations for testing the braking response time of pneumatically braked tractor vehicles are not suitable for use as a testing basis for double-trailer trains, and are even more inadequate for long-term tracking and monitoring of the braking sequence of vehicles (especially double-trailer trains) during operation. Summary of the Invention

[0004] In view of this, the embodiments of the present application hope to provide a braking timing monitoring system, method and device for a double-trailer car train to at least solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] According to one aspect of an embodiment of the present application, a method for monitoring the braking sequence of a double-trailer train is provided, comprising:

[0007] Acquire historical driving data of the double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal;

[0008] determining a braking moment according to the braking signal, and determining a calculation time domain according to the braking moment;

[0009] Determining a compliance speed set that meets preset conditions according to the steering wheel angle and the brake signal within the calculation time domain;

[0010] determining a braking completion time corresponding to each wheel according to the compliance speed set;

[0011] A braking sequence corresponding to each wheel is determined according to the braking completion time and the braking time.

[0012] Optionally, the obtaining of historical travel data of the double-trailer train includes:

[0013] The historical driving data of the double-trailer train collected through the vehicle-mounted OBD is obtained.

[0014] Optionally, determining the calculation time domain according to the braking moment includes:

[0015] The value of the braking moment minus the preset time length is determined to be the minimum value of the interval of the calculation time domain, and the value of the braking moment plus the preset time length is determined to be the maximum value of the interval of the calculation time domain.

[0016] Optionally, determining the braking completion time corresponding to each wheel according to the compliant speed set includes:

[0017] Determining a first speed set corresponding to each wheel between the minimum value of the interval and the braking moment from the compliant speed set, and performing regression processing on the first speed set to obtain a first linear relationship between the speed of each wheel and time;

[0018] determining, from the compliance speed set, a second speed set corresponding to each wheel between the braking moment and the interval maximum value, and performing regression processing on the second speed set to obtain a second linear relationship between the speed of each wheel and time;

[0019] The intersection coordinates between the first linear relationship and the second linear relationship are calculated, and the braking completion time corresponding to each wheel is determined according to the intersection coordinates.

[0020] Optionally, determining the braking sequence corresponding to each wheel according to the braking completion time and the braking time includes:

[0021] The time difference between the braking completion moment and the braking moment is calculated, and the time difference is determined as the braking timing sequence corresponding to each wheel.

[0022] Optionally, the method further includes:

[0023] Sorting the braking timing corresponding to each wheel to obtain a sorting result;

[0024] An optimization strategy for the braking system of the double-trailer train is determined according to the sorting result.

[0025] Optionally, the preset conditions include: the steering wheel angle is less than a preset angle, and the braking signal is 1 in the maximum value of the interval between the braking moment and the calculation time domain; wherein, the braking signal is 1, which means that braking occurs at the current moment.

[0026] According to a third aspect of the present application, a braking sequence monitoring system for a double-trailer train is provided, the system comprising:

[0027] A historical driving data acquisition module is used to acquire historical driving data of the double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal;

[0028] a braking moment determination module, configured to determine the braking moment according to the braking signal, and determine a calculation time domain according to the braking moment;

[0029] a compliance speed set determination module, configured to determine, within the calculation time domain, a compliance speed set that satisfies preset conditions based on the steering wheel angle and the brake signal;

[0030] a braking completion time determination module, configured to determine a braking completion time corresponding to each wheel according to the compliant speed set;

[0031] The braking sequence determination module is used to determine the braking sequence corresponding to each wheel according to the braking completion time and the braking time.

[0032] Optionally, the system further comprises:

[0033] The optimization strategy determination module is used to sort the braking timing corresponding to each wheel to obtain a sorting result; and determine the optimization strategy of the braking system of the double-trailer train according to the sorting result.

[0034] According to a third aspect of the present application, a braking sequence monitoring device for a double-trailer train is provided, the device comprising:

[0035] at least one processor; and

[0036] a memory communicatively coupled to the at least one processor; wherein:

[0037] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned methods for monitoring the braking sequence of a double-trailer vehicle train.

[0038] The present application provides a method, system, and device for monitoring the braking sequence of a double-trailer train, which is a solution for monitoring the braking sequence of a double-trailer train by analyzing the train's historical driving data. Specifically, by acquiring the train's historical driving data, the system analyzes the braking moment corresponding to each wheel, selects a set of compliant speeds that can be used for analysis and processing at that braking moment, calculates the braking completion moment based on the compliant speed set, and further calculates the braking sequence corresponding to the wheel based on the braking moment and the braking completion moment. This achieves the purpose of monitoring the braking sequence of the double-trailer train throughout its life cycle, facilitates evaluation of the braking system's performance based on the braking sequence of the double-trailer train, and further optimizes the braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic flow chart of the steps of the braking sequence monitoring method of a double-trailer train in this application;

[0040] Figure 2 A schematic diagram of a braking signal of a double-trailer train varying with time in this application;

[0041] Figure 3 A schematic diagram of a real-time speed signal of a wheel of a double-trailer train in this application;

[0042] Figure 4 This is a schematic diagram of the results of fitting the speed data of one wheel of the double-trailer train in this application;

[0043] Figure 5 This is a schematic diagram of the structure of the braking sequence monitoring system of the double-trailer train in this application;

[0044] Figure 6 This is a schematic diagram of the structural composition of the braking timing monitoring device of the double-trailer train in this application. DETAILED DESCRIPTION

[0045] The technical solution of the present application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0046] The various specific technical features in the various embodiments described in the specific implementation methods can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0047] It should be noted that the terms "first, second, and third" in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first, second, and third" can be interchanged to represent a specific order or precedence where permitted. It should be understood that the objects distinguished by "first, second, and third" can be interchanged where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0048] First, an explanation of the terms involved in this application is provided:

[0049] Braking sequence: refers to the time sequence from the moment your foot touches the brake pedal (or your hand touches the brake handle) to the moment the braking effect begins on each axle (or wheel) of the motor vehicle when braking suddenly. It reflects the synchronization and coordination of the braking actions of each axle (or wheel) of the vehicle.

[0050] GB / T 26778-2023: is a national standard on performance requirements and test methods for automobile trains. This standard references multiple national or industry standards related to automobile train design and testing. These referenced documents provide the basis and support for the technical requirements and test methods of this standard.

[0051] GB12676-2014: The full name is "Technical Requirements and Test Methods for Braking Systems of Commercial Vehicles and Trailers". It is one of the national standards of the People's Republic of China. This standard aims to ensure that the braking systems of commercial vehicles and trailers can achieve the specified safety performance under various operating conditions, thereby ensuring road traffic safety.

[0052] OBD: On-Board Diagnostics, a system used to monitor vehicle performance and detect potential faults. It works by collecting and analyzing vehicle operating data through a series of sensors and controllers.

[0053] Secondly, to facilitate those skilled in the art to understand the technical solutions provided in the embodiments of the present application, the following describes the relevant technologies:

[0054] Semi-trailer trains effectively improve transportation efficiency, reduce fuel consumption, and offer excellent economic benefits. Currently, semi-trailer trains are the primary mode of transport for bulk cargo in China. To further improve transportation efficiency, pilot applications of double-semi-trailer trains have been launched in some regions. Because double-trailer trains add a trailer to existing single-trailer trains, safety control strategies such as steering stability and braking become more complex and challenging, potentially leading to more serious traffic accidents.

[0055] Research on the braking stability of double-trailer trains focused on several potential instability scenarios during braking. First, if the trailer axles apply braking force too early during braking, the trailer may experience undesirable lateral swinging due to lateral forces, a phenomenon known as tailspin. Second, if the tractor's steering axle locks prematurely, the tractor loses its steering capability, potentially causing it to skid under lateral forces. Furthermore, if the tractor's drive axle brakes too early, the tractor and trailer may rotate relative to each other under lateral forces, causing the entire train to fold. In this case, the train's braking stability is significantly reduced, making it difficult for the driver to adjust their driving style to avoid this folding. Finally, when a double-trailer train is turning or braking suddenly at high speed, premature locking of any axle can increase the risk of the entire train rolling over. Therefore, to improve the braking stability of double-trailer trains during operation, it is necessary to optimize the braking system, particularly by monitoring the braking sequence to optimize the braking system based on the braking sequence.

[0056] Although GB / T 26778-2023 stipulates that for tractors using pneumatic brakes, when testing the brake response time according to the method specified in GB12676-2014, the response time (A) from the application of the brake pedal to the most unfavorable brake chamber should be less than or equal to 0.6s, and the response time (B) from the application of the brake pedal to the end of the extended air pressure control line joint between the tractor and trailer should be less than or equal to 0.4s; and for trailers using pneumatic brakes, when testing the brake response time according to the method specified in GB12676-2014, the response time (C) from the air pressure control line joint between the tractor and trailer should be less than or equal to 0.4s, the values ​​of A, B, and C (rounded to the nearest 0.01s, accurate to the nearest 0.05s) are, on the one hand, the basis for testing before new vehicle product announcements or during annual inspections, and on the other hand, this regulation does not currently apply to double-trailer trains. In addition, it is impossible to track and monitor the braking sequence of vehicles (especially double-trailer trains) during use over a long period of time.

[0057] In the existing technology, with the development of vehicle-mounted data applications, the OBD equipped in the vehicle collects a large amount of real-time vehicle operation data, such as vehicle steering, braking, wheel speed and other signals, which provides favorable conditions for braking timing monitoring of double-trailer trains.

[0058] To this end, an embodiment of the present application provides a technical solution for a method for monitoring the braking sequence of a double-trailer train. In this technical solution, historical driving data of the double-trailer train is acquired; wherein the historical driving data includes the speed of each wheel, the steering wheel angle, and the brake signal; the braking moment is determined based on the brake signal, and a calculation time domain is determined based on the braking moment; within the calculation time domain, a set of compliant speeds that meet preset conditions is determined based on the steering wheel angle and the brake signal; the braking completion moment corresponding to each wheel is determined based on the compliant speed set; and the braking sequence corresponding to each wheel is determined based on the braking completion moment and the braking moment. Thus, by acquiring the historical driving data of the double-trailer train, the braking moment corresponding to each wheel is analyzed, and a set of compliant speeds that can be used for analysis and processing at this braking moment is selected; the braking completion moment is calculated based on the compliant speed set; and the braking sequence corresponding to the wheel is further calculated based on the braking moment and the braking completion moment, thereby achieving the purpose of monitoring the braking sequence of the double-trailer train throughout its life cycle, thereby facilitating the performance evaluation of the braking system from the perspective of the braking sequence of the double-trailer train and further optimizing the braking system.

[0059] The technical solutions of the present application are described below through a number of embodiments. It should be noted that these embodiments can be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein.

[0060] Example 1

[0061] Figure 1 This is a schematic diagram of the process implementation of the braking timing monitoring method of the double-trailer train in this application, as shown in FIG. Figure 1 As shown, the method includes steps S101-S105:

[0062] Step S101, obtaining historical driving data of a double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal;

[0063] Vehicles are typically equipped with an on-board diagnostics (OBD) system, also known as an onboard diagnostics system. OBD is a crucial tool in modern vehicles for monitoring vehicle performance, emissions, and fault detection. By collecting data through sensors, the OBD system ensures that the vehicle complies with emission standards under various operating conditions.

[0064] In this embodiment, when the braking sequence of the double-trailer train needs to be monitored, the historical travel data of the double-trailer train collected by the on-board OBD is obtained for analysis and processing to obtain the braking sequence of the double-trailer train.

[0065] The historical driving data includes the speed of each wheel, the steering wheel angle, and the brake signal. It should be noted that the onboard OBD is installed in the double-trailer train, collecting and storing the train's historical driving data in real time. Therefore, each moment has a corresponding historical driving data. Specifically, the brake signal can be recorded as 0 or 1, where a 0 indicates no braking, and a 1 indicates braking.

[0066] Step S102, determining a braking moment according to the braking signal, and determining a calculation time domain according to the braking moment;

[0067] In this embodiment, the braking signal in the acquired historical driving data can be analyzed to determine the braking moment. The braking moment is the moment when the braking operation occurs, when the braking signal changes from 0 to 1. The braking moment can be determined by comparing the braking signal data before and after the two moments. For example, Figure 2 The figure shows a schematic diagram of a braking signal that changes with time. Figure 2 It can be seen that the braking time t0 = 10.40s.

[0068] In this embodiment, after determining the braking moment, a calculation time domain can be further determined based on the braking moment. This calculation time domain refers to the time interval defined for filtering the speed data of each wheel. Specifically, assuming the braking moment is t0 and the preset time period before and after braking is T, the calculation time domain is [t0-T, t0+T]. The preset time period T can be set according to the actual needs of the solution, for example, T = 2s or 3s, and this embodiment of the application does not impose specific limitations on this.

[0069] Step S103, determining a compliance speed set that meets preset conditions according to the steering wheel angle and the brake signal within the calculation time domain;

[0070] In this embodiment, after determining the calculation time domain, a compliance speed set that meets the preset conditions is determined within the calculation time domain based on the steering wheel angle and the brake signal. That is, the speeds corresponding to the wheels that meet the set preset conditions are screened out and combined to obtain a compliance speed set.

[0071] The preset condition is a pre-set wheel speed screening condition. As an example, the preset condition may include: the steering wheel angle is less than a preset angle, and the braking signal is 1 at the maximum value of the interval between the braking moment and the calculation time domain; wherein the braking signal being 1 indicates that braking occurs at the current moment.

[0072] The preset angle can be set according to the actual needs of the solution, for example, the preset angle is 10° or 12°, etc., and this embodiment of the application does not impose any specific restrictions on this. That is, when filtering the speed data of each wheel, the filtering conditions are set to be that the steering wheel angle is less than the preset angle, and the brake signal value remains at 1 within the interval between the moment of braking and the maximum value of the calculation time domain.

[0073] Step S104, determining the braking completion time corresponding to each wheel according to the compliant speed set;

[0074] In this embodiment, the braking completion time corresponding to each wheel is determined by analyzing the speeds in the compliant speed set according to the braking moment. Specifically, the analysis of the speeds in the compliant speed set can be divided into two stages. The first stage is to calculate the minimum value of the interval in the time domain to the braking moment. By performing regression analysis on the speeds in the first stage, a first linear relationship between speed and time within this stage is determined. Then, the second stage is to calculate the maximum value of the interval in the time domain from the braking moment to the calculated time domain. By performing regression analysis on the speeds in the second stage, a second linear relationship between speed and time within this stage is determined. Finally, the coordinates of the intersection of the first linear relationship and the second linear relationship are calculated, and the braking completion time is determined based on the coordinates of the intersection.

[0075] Step S105 , determining a braking sequence corresponding to each wheel according to the braking completion time and the braking time.

[0076] In this embodiment, after determining the braking moment and the braking completion moment, the braking sequence corresponding to each wheel can be determined based on the braking completion moment and the braking moment. Specifically, the time difference between the braking completion moment and the braking moment can be calculated, and the time difference can be determined as the braking sequence corresponding to each wheel.

[0077] In a preferred embodiment of the present application, step S101 may include the following steps:

[0078] The historical driving data of the double-trailer train collected through the vehicle-mounted OBD is obtained.

[0079] In this embodiment, when the braking sequence of the double-trailer train needs to be monitored, the historical travel data of the double-trailer train collected by the on-board OBD is obtained for analysis and processing to obtain the braking sequence of the double-trailer train.

[0080] The historical driving data includes the speed of each wheel, the steering wheel angle, and the brake signal. It should be noted that the onboard OBD is installed in the double-trailer train, collecting and storing the train's historical driving data in real time. Therefore, each moment has a corresponding historical driving data. Specifically, the brake signal can be recorded as 0 or 1, where a 0 indicates no braking, and a 1 indicates braking.

[0081] In a preferred embodiment of the present application, step S102 may include the following steps:

[0082] The value of the braking moment minus the preset time length is determined to be the minimum value of the interval of the calculation time domain, and the value of the braking moment plus the preset time length is determined to be the maximum value of the interval of the calculation time domain.

[0083] Among them, the preset time length is the preset calculation time length of the speed data before and after braking. The preset time length can be set according to the actual needs of the solution, for example, the preset time length T = 2s, or 3s, etc., and the embodiment of the present application does not impose specific restrictions on this.

[0084] In this embodiment, the value of the braking moment minus the preset time length can be determined as the minimum value of the interval of the calculation time domain, and the value of the braking moment plus the preset time length can be determined as the maximum value of the interval of the calculation time domain.

[0085] As an example, assuming that the braking moment is t0 and the preset time length before and after braking is T, the minimum interval value of the calculation time domain is t0-T, and the maximum interval value of the calculation time domain is t0+T, that is, the calculation time domain is [t0-T, t0+T].

[0086] In a preferred embodiment of the present application, step S104 may include the following steps:

[0087] Determining a first speed set corresponding to each wheel between the minimum value of the interval and the braking moment from the compliant speed set, and performing regression processing on the first speed set to obtain a first linear relationship between the speed of each wheel and time;

[0088] determining, from the compliance speed set, a second speed set corresponding to each wheel between the braking moment and the interval maximum value, and performing regression processing on the second speed set to obtain a second linear relationship between the speed of each wheel and time;

[0089] The intersection coordinates between the first linear relationship and the second linear relationship are calculated, and the braking completion time corresponding to each wheel is determined according to the intersection coordinates.

[0090] In this embodiment, the speed of the compliant speed concentration is analyzed by dividing it into two stages. The first stage is from the minimum value of the interval in the calculation time domain to the braking moment. The speed in the first stage is subjected to regression analysis to determine the first linear relationship between the speed and time in this stage. Then, the second stage is from the braking moment to the maximum value of the interval in the calculation time domain. The speed in the second stage is subjected to regression analysis to determine the second linear relationship between the speed and time in this stage. Finally, the coordinates of the intersection of the first linear relationship and the second linear relationship are calculated, and the braking completion moment is determined based on the intersection coordinates.

[0091] As an example, the historical driving data obtained from the vehicle OBD includes: the vehicle speed converted from each round (v1, v2, v3, ... v n ), steering wheel angle Braking signal (η). Monitoring the braking sequence corresponding to each wheel includes the following steps:

[0092] 1. Determine the braking time t0 (the moment when it changes from 0 to 1) through the braking signal η(t)

[0093] 2. Set the preset conditions for speed data filtering:

[0094] ①, set the preset time before and after braking T = 2s,

[0095] ②, confirm that η(t) is 1 from t0 to t0+T (brake is always pressed)

[0096] ③, Steering wheel angle between t0 and t0+T

[0097] Under the conditions of ② and ③, the vehicle speed vi(t) converted from each round within the time interval [t0-T, t0+T] is selected.

[0098] 3. Calculation method of braking moment (where i represents different wheels):

[0099] A, use linear regression to regress the velocity signal in the [t0-T, t0] phase, assuming that the first linear relationship after regression is:

[0100] v i (t) = a i t+b i ,

[0101] B. Use linear regression to regress the velocity signal at the stage (t0, t0+T], assuming that the second linear relationship after regression is:

[0102] v i (t) = c i t+d i.

[0103] C. Combine the two expressions of A and B to find the coordinates of the intersection point in, The braking moment.

[0104] As an example, for Figure 2 The braking moment is determined by the braking signal in Figure 3 A schematic diagram showing a real-time speed signal of a wheel of a double-trailer train is shown. Figure 4 The figure shows the result of fitting the speed data of a wheel. Figure 3 and Figure 4 , after calculation, we get t1 x =10.925s.

[0105] In a preferred embodiment of the present application, determining the braking sequence corresponding to each wheel according to the braking completion time and the braking time includes:

[0106] The time difference between the braking completion moment and the braking moment is calculated, and the time difference is determined as the braking timing sequence corresponding to each wheel.

[0107] In this embodiment, the time difference between the braking completion moment and the braking moment is calculated, and the time difference is determined as the braking sequence corresponding to each wheel. Specifically, the calculation formula of the braking sequence is as follows:

[0108]

[0109] in, Indicates the moment when braking is completed, and t0 indicates the braking moment.

[0110] As an example, Figure 2 The braking time t0 determined in the Figure 3 and Figure 4 The t1 obtained by fitting the velocity in x =10.925s, then the braking timing (i.e. braking response time) corresponding to the wheel is T1=t1 x –t0=10.925-10.40=0.525s.

[0111] In a preferred embodiment of the present application, the method may further include the following steps:

[0112] The braking time sequence corresponding to each wheel is sorted to obtain a sorting result; and an optimization strategy for the braking system of the double-trailer train is determined according to the sorting result.

[0113] In this embodiment, the braking timing corresponding to each wheel is sorted to obtain a sorting result, and then an optimization strategy for the braking system of the double-trailer train is determined based on the sorting result. For example, a universal standard braking timing is set for the double-trailer train. If the calculated braking timing of a wheel is greater than the standard braking timing, it indicates that the braking system of the double-trailer train needs to be improved; if the calculated braking timing of a wheel is less than the standard braking timing, it indicates that the braking system of the double-trailer train does not need to be improved. It should be noted that the specific setting of the braking system optimization strategy can be designed independently and is not specifically limited in this embodiment of the application.

[0114] With the development of vehicle-mounted data applications, the OBDs equipped on vehicles collect a large amount of real-time vehicle operation data, such as vehicle steering, braking, wheel speed and other signals, which provides favorable conditions for the braking sequence monitoring of double-trailer trains. Therefore, the braking sequence monitoring method for double-trailer trains provided in this application obtains historical driving data of double-trailer trains to analyze the braking moment corresponding to each wheel, and screens out the compliant speed set that can be used for analysis and processing at this braking moment. The braking completion moment is calculated based on the compliant speed set, and the braking sequence corresponding to the wheel is further calculated based on the braking moment and the braking completion moment, thereby achieving the purpose of monitoring the braking sequence of the double-trailer train during its entire life cycle, so as to evaluate the performance of the braking system from the perspective of the braking sequence of the double-trailer train and further optimize the braking system.

[0115] Example 2

[0116] Figure 5 The schematic diagram of the structure of the braking sequence monitoring system of the double-trailer train in this application is shown. The system can be divided into one or more program modules, one or more program modules are stored in a storage medium and executed by one or more processors to complete the embodiment of this application. The program module referred to in the embodiment of this application refers to a series of computer program instruction segments that can complete specific functions. The following description will specifically introduce the functions of each program module in this embodiment. Figure 5 As shown, the braking sequence monitoring system for a double-trailer train may include the following modules: a historical driving data acquisition module 501, a braking moment determination module 502, a compliance speed set determination module 503, a braking completion moment determination module 504, and a braking sequence determination module 505, wherein:

[0117] The historical driving data acquisition module 501 is used to acquire the historical driving data of the double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal;

[0118] a braking moment determination module 502, configured to determine a braking moment according to the braking signal, and determine a calculation time domain according to the braking moment;

[0119] a compliance speed set determination module 503, configured to determine a compliance speed set that meets preset conditions according to the steering wheel angle and the brake signal within the calculation time domain;

[0120] a braking completion time determination module 504, configured to determine a braking completion time corresponding to each wheel according to the compliant speed set;

[0121] The braking sequence determining module 505 is configured to determine the braking sequence corresponding to each wheel according to the braking completion time and the braking time.

[0122] In a preferred embodiment of the present application, the historical driving data acquisition module 501 is specifically configured to:

[0123] The historical driving data of the double-trailer train collected through the vehicle-mounted OBD is obtained.

[0124] In a preferred embodiment of the present application, the braking moment determination module 502 includes:

[0125] The calculation time domain determination submodule is used to determine the value of the braking moment minus the preset time length as the interval minimum value of the calculation time domain, and determine the value of the braking moment plus the preset time length as the interval maximum value of the calculation time domain.

[0126] In a preferred embodiment of the present application, the braking completion time determination module 504 includes:

[0127] a first linear relationship determination submodule, configured to determine, from the compliant speed set, a first speed set corresponding to each wheel between the minimum value of the interval and the braking moment, and perform regression processing on the first speed set to obtain a first linear relationship between the speed of each wheel and time;

[0128] a second linear relationship determination submodule for determining, from the compliant speed set, a second speed set corresponding to each wheel between the braking moment and the interval maximum value, and performing regression processing on the second speed set to obtain a second linear relationship between the speed of each wheel and time;

[0129] The braking completion time determination submodule is configured to calculate the intersection coordinates between the first linear relationship and the second linear relationship, and determine the braking completion time corresponding to each wheel according to the intersection coordinates.

[0130] In a preferred embodiment of the present application, the braking timing determination module 505 is specifically configured to:

[0131] The time difference between the braking completion moment and the braking moment is calculated, and the time difference is determined as the braking timing sequence corresponding to each wheel.

[0132] In a preferred embodiment of the present application, the system may further include the following modules:

[0133] A braking timing sequence sorting module is used to sort the braking timing corresponding to each wheel to obtain a sorting result;

[0134] An optimization strategy determination module is used to determine the optimization strategy of the braking system of the double-trailer train according to the sorting result.

[0135] In a preferred embodiment of the present application, the preset conditions include: the steering wheel angle is less than a preset angle, and the braking signal is 1 at the braking moment and the maximum value of the interval; wherein, the braking signal is 1, which means that braking occurs at the current moment.

[0136] It should be noted that the braking sequence monitoring system for the double-trailer train provided in the above embodiment is the same as the above embodiment. Figure 1 The provided braking sequence monitoring method for a double-trailer vehicle train belongs to the same concept. The specific implementation process can refer to the above system embodiment and will not be repeated here.

[0137] Example 3

[0138] The present application provides a braking sequence monitoring device for a double-trailer train, the device comprising:

[0139] at least one processor; and

[0140] a memory communicatively coupled to the at least one processor; wherein:

[0141] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned methods for monitoring the braking sequence of a double-trailer vehicle train.

[0142] Example 4

[0143] Figure 6 For the braking sequence monitoring equipment of the double-trailer train in this application, such as Figure 6As shown, the braking timing monitoring device 600 for a double-trailer car train includes at least one processor 601 and a memory 602 for storing a computer program that can be run on the processor 601. The processor 601 is used to execute the braking timing monitoring method for a double-trailer car train suggested in the above embodiments of the present application when running the computer program. The braking timing monitoring device 600 for a double-trailer car train also includes at least one network interface 604 and a user interface 603. The various components in the braking timing monitoring device 600 for a double-trailer car train are coupled together through a bus system 605. It can be understood that the bus system 605 is used to realize connection and communication between these components. In addition to the data bus, the bus system 605 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 6 Various buses are labeled as bus system 605.

[0144] The user interface 603 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch pad or a touch screen.

[0145] It is understood that memory 602 can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory can be magnetic disk memory or tape memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 602 described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memories.

[0146] The memory 602 in the embodiment of the present application is used to store various types of data to support the operation of the braking timing monitoring device 600 of the double-trailer car train. Examples of these data include: any computer program for operating on the braking timing monitoring device 600 of the double-trailer car train, such as an operating system 6021, an application 6022 and a braking timing monitoring system 6023 of the double-trailer car train; wherein the operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 622 can include various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. The braking timing monitoring system 6023 of the double-trailer car train is the embodiment of the present application. Figure 5 The system shown is used to implement cross-CEP simulation. The program for implementing the method of the embodiment of the present application can be included in the application program 6022, and can also be included in the braking sequence monitoring system 6023 of the double-trailer train.

[0147] The processor 601 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 601 or by instructions in the form of software. The above-mentioned processor 601 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 601 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 602. The processor 601 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0148] In an exemplary embodiment, the braking timing monitoring device 600 of a double-trailer car train can be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0149] In an exemplary embodiment, the present application also provides a computer-readable storage medium, such as a memory 602 including a computer program. The computer program can be executed by a processor 601 of a double-trailer train brake sequence monitoring device 600 to perform the steps of the aforementioned method. The computer-readable storage medium can be a memory device such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface mount storage, optical disk, or CD-ROM; or various devices including any one or any combination of the aforementioned memory devices, such as a computer, tablet device, or personal digital assistant.

[0150] A computer-readable storage medium stores a computer program, which, when executed by a processor, executes the compressor surge warning method suggested by the above-mentioned embodiment of the present application.

[0151] In the several embodiments provided herein, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. In addition, the features disclosed in the several method or device embodiments provided herein can be combined in any manner, unless they conflict, to form new method or device embodiments.

[0152] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A method for monitoring the braking sequence of a double-trailer train, characterized in that: The method comprises: Acquire historical driving data of the double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal; determining a braking moment according to the braking signal, and determining a calculation time domain according to the braking moment; Determining a compliance speed set that meets preset conditions according to the steering wheel angle and the brake signal within the calculation time domain; determining a braking completion time corresponding to each wheel according to the compliance speed set; A braking sequence corresponding to each wheel is determined according to the braking completion time and the braking time.

2. The method for monitoring the braking sequence of a double-trailer train according to claim 1, characterized in that: The obtaining of historical travel data of a double-trailer train includes: The historical driving data of the double-trailer train collected through the vehicle-mounted OBD is obtained.

3. The method for monitoring the braking sequence of a double-trailer train according to claim 1, characterized in that: The determining of the calculation time domain according to the braking moment includes: The value of the braking moment minus the preset time length is determined to be the minimum value of the interval of the calculation time domain, and the value of the braking moment plus the preset time length is determined to be the maximum value of the interval of the calculation time domain.

4. The method for monitoring the braking sequence of a double-trailer train according to claim 3, characterized in that: Determining the braking completion time corresponding to each wheel according to the compliance speed set includes: Determining a first speed set corresponding to each wheel between the minimum value of the interval and the braking moment from the compliant speed set, and performing regression processing on the first speed set to obtain a first linear relationship between the speed of each wheel and time; determining, from the compliance speed set, a second speed set corresponding to each wheel between the braking moment and the interval maximum value, and performing regression processing on the second speed set to obtain a second linear relationship between the speed of each wheel and time; The intersection coordinates between the first linear relationship and the second linear relationship are calculated, and the braking completion time corresponding to each wheel is determined according to the intersection coordinates.

5. The method for monitoring the braking sequence of a double-trailer train according to claim 1, characterized in that: The determining of the braking sequence corresponding to each wheel according to the braking completion time and the braking time includes: The time difference between the braking completion moment and the braking moment is calculated, and the time difference is determined as the braking timing sequence corresponding to each wheel.

6. The method for monitoring the braking sequence of a double-trailer train according to claim 1, characterized in that: The method further comprises: Sorting the braking timing corresponding to each wheel to obtain a sorting result; An optimization strategy for the braking system of the double-trailer train is determined according to the sorting result.

7. The method for monitoring the braking sequence of a double-trailer train according to claim 1, characterized in that: The preset conditions include: the steering wheel angle is less than a preset angle, and the braking signal is 1 in the maximum value of the interval between the braking moment and the calculation time domain; wherein, the braking signal being 1 indicates that braking occurs at the current moment.

8. A braking sequence monitoring system for a double-trailer train, characterized in that: The system comprises: A historical driving data acquisition module is used to acquire historical driving data of the double-trailer train; wherein the historical driving data includes the speed of each wheel, the steering wheel angle and the brake signal; a braking moment determination module, configured to determine the braking moment according to the braking signal, and determine a calculation time domain according to the braking moment; a compliance speed set determination module, configured to determine, within the calculation time domain, a compliance speed set that satisfies preset conditions based on the steering wheel angle and the brake signal; a braking completion time determination module, configured to determine a braking completion time corresponding to each wheel according to the compliant speed set; The braking sequence determination module is used to determine the braking sequence corresponding to each wheel according to the braking completion time and the braking time.

9. The braking sequence monitoring system for a double-trailer train according to claim 8, characterized in that: The system further comprises: The optimization strategy determination module is used to sort the braking timing corresponding to each wheel to obtain a sorting result; and determine the optimization strategy of the braking system of the double-trailer train according to the sorting result.

10. A braking sequence monitoring device for a double-trailer train, characterized in that: The device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein: The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the braking timing monitoring method for a double-trailer car train according to any one of claims 1 to 7.

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