Method and parking brake device for autonomously drivable vehicles

Abstract

A parking brake device is provided for an autonomous vehicle having components of a parking brake system for applying parking brakes. The parking brake device includes a first controller arranged to provide one or more control signals to be applied to components of the parking brake system to apply parking brakes in response to a signal requesting the application of parking brakes. The parking brake device also includes a second controller arranged to provide one or more control signals to be applied to other components of the parking brake system to apply parking brakes in response to the first controller being unavailable to cause parking brake application.

Description

Technical Field

[0001] This application relates to vehicle parking systems, and more particularly to methods and parking braking devices for parking systems used in autonomous vehicles, such as those used in autonomous commercial trucks. Background Technology

[0002] Vehicle parking systems for commercial trucks are known. One type of vehicle parking system for trucks is an electronic parking system, in which a parking brake is automatically applied using a primary parking mechanism when certain criteria associated with the truck or truck driver are met. In some electronic parking systems, a secondary parking mechanism is provided as a backup for applying the parking brake if the primary parking mechanism fails to induce the application of the parking brake. These known secondary parking mechanisms require the truck driver to take a manual action to activate the secondary parking mechanism after the truck driver has been warned that the primary parking mechanism has failed to induce the application of the parking brake.

[0003] Known auxiliary parking mechanisms can be used in any type of truck, including autonomous trucks. However, in the case of autonomous trucks, if the primary parking mechanism fails to apply the parking brake, a manual action from a passenger in the autonomous truck will still be required to activate the auxiliary parking mechanism. Therefore, those skilled in the art continue research and development efforts in the field of parking systems for vehicles such as commercial trucks, which include a primary parking mechanism and may or may not include an auxiliary parking mechanism as a backup to the primary parking mechanism. Summary of the Invention

[0004] According to one embodiment, a parking brake device for an autonomous vehicle is provided, the autonomous vehicle having components of a parking brake system for applying parking brakes. The parking brake device includes a first controller arranged to provide one or more control signals to be applied to components of the parking brake system to apply parking brakes in response to a signal requesting the application of parking brakes. The parking brake device also includes a second controller arranged to provide one or more control signals to be applied to other components of the parking brake system to apply parking brakes in response to the first controller being unavailable to cause parking brakes to be applied.

[0005] According to another embodiment, a parking brake device for an autonomous vehicle is provided, the autonomous vehicle having components for applying a parking brake system. The parking device includes a main parking brake controller arranged to control one or more parking brake valves in response to a signal requesting the application of parking brake, such that one or more parking brake springs can apply parking brake. The parking brake device also includes components for operating such that, when the vehicle is autonomously driven and no manual action from a passenger of the autonomous vehicle is required, the one or more parking brake valves can apply parking brake when the main parking brake controller cannot cause the application of parking brake.

[0006] According to yet another embodiment, a computer-implemented method for an autonomous vehicle is provided, the autonomous vehicle having a parking brake, a main parking brake controller, and an auxiliary parking brake controller different from the main parking brake controller. The computer-implemented method includes detecting that the main parking brake controller is unavailable to induce the application of a parking brake. The method also includes, in response to the unavailability of the main parking brake controller, electronically inducing the application of a parking brake via the auxiliary parking brake controller. Attached Figure Description

[0007] Figure 1A This is a schematic block diagram illustrating an example parking brake device constructed according to an embodiment for an autonomous vehicle.

[0008] Figure 1B It is similar to Figure 1A It also shows schematic block diagrams of components in different locations.

[0009] Figure 2 This is a flowchart depicting an example computer implementation method for operating a parking braking device according to an embodiment.

[0010] Figure 3A This is a schematic block diagram illustrating an example parking brake device for an autonomously driven vehicle and constructed according to another embodiment.

[0011] Figure 3B It is similar to Figure 3A It also shows schematic block diagrams of components in different locations. Detailed Implementation

[0012] This application relates to a parking brake device for autonomous vehicles, such as commercial trucks. The specific construction of the parking brake device can be varied. It is to be understood that the following disclosure provides multiple embodiments or examples of different features for implementing various embodiments. Specific examples of components and arrangements are described to simplify this disclosure. These are merely examples and are not intended to be limiting.

[0013] refer to Figure 1A The illustration shows a schematic block diagram of an example parking brake device 100 constructed according to an embodiment for an autonomous vehicle. Figure 1A In the diagram, electrical wire connections are shown as solid lines, pneumatic wire connections are shown as dashed lines, and mechanical coupling is shown as double solid lines.

[0014] The parking brake device 100 includes a controller area network (CAN) bus 110, to which multiple vehicle devices are connected to communicate with each other. The CAN bus 110 may be in a standardized serial communication format, such as SAE J1939, or in a proprietary format. It is conceivable that some or all vehicle devices may be hardwired for communication instead of using the CAN bus 110.

[0015] Vehicle devices that can be connected to the CAN bus 110 include, but are not limited to, a first controller as a primary parking brake controller 120, a second controller as a redundant parking brake controller 160, and a third controller as an automated driver controller 180. The primary parking brake controller 120 can provide various signals to the CAN bus 110, including configuration messages, diagnostic status, and braking-specific signals (such as parking brake status and parking brake pressure). Similarly, the redundant parking brake controller 160 can provide various signals to the CAN bus 110, including configuration messages, diagnostic status, and braking-specific signals (such as parking brake status and parking brake pressure). The automated driver controller 180 can provide various signals to the CAN bus 110, including configuration messages, diagnostic status, driving mode (i.e., autonomous, semi-autonomous, or driver-controlled), and desired intentions regarding vehicle status (e.g., stopped, moving, parked). The CAN bus 110 enables the primary parking brake controller 120, the redundant parking brake controller 160, and the automated driver controller 180 to communicate with each other.

[0016] The main compressed air supply unit 130 provides a source of compressed air to a first supply port 136 of the parking brake valve 138 via a first 3 / 2 normally open solenoid valve 134 in line 131 and then in line 135. As an example, the parking brake valve 138 may include a valve such as that available as part of a Bendix Intellipark® system (commercially available from Bendix Commercial Vehicle Systems LLC, located in Elyria, Ohio). The first 3 / 2 normally open solenoid valve 134 is located between the main compressed air supply unit 130 and the parking brake valve 138. Similarly, the auxiliary compressed air supply unit 140 provides a source of compressed air to a second supply port 146 of the parking brake valve 138 via a second 3 / 2 normally open solenoid valve 144 in line 141 and then in line 145. The second 3 / 2 normally open solenoid valve 144 is located between the auxiliary compressed air supply unit 140 and the parking brake valve 138. Each of the first and second 3 / 2 normally open solenoid valves 134, 144 may include a Bendix AT-3 commercially available from Bendix Commercial Vehicle Systems LLC. TM Solenoid valve.

[0017] While the above description focuses on the use of a 3 / 2 normally open solenoid valve, it is conceivable that another type of valve could also be used. For example, an anti-lock braking system (ABS) valve, such as the Bendix M-40, commercially available from Bendix Commercial Vehicle Systems LLC, could be used. TM Control valve. For illustrative purposes, this article will describe the use of a 3 / 2 normally open solenoid valve.

[0018] The main parking brake controller 120, in the form of an electronic controller unit, is arranged to monitor signals on the CAN bus 110 to provide one or more control signals to apply parking brake based on control logic 122 stored in the data storage unit of the main parking brake controller 120. The main parking brake controller 120 provides one or more signals on lines 124, 125 to the first and second control ports 126, 127 of the parking brake valve 138 to control the delivery of compressed air (originating from the first and second compressed air supply units 130, 140) to the first and second delivery ports 128, 129 of the parking brake valve 138.

[0019] The parking brake valve 138 is controlled by control logic 122 of the parking brake controller 120 to change the pneumatic pressure in line 142 to one or more chambers of the spring brake chamber 143, and also to change the pneumatic pressure in line 152 to the trailer air supply connector 154. More specifically, when the vehicle's parking brake is applied, the main parking brake controller 120 provides one or more signals on lines 124, 125 to the parking brake valve 138 to vent air from one or more chambers of the spring brake chamber 143. The spring brake chamber 143 is operatively coupled to the parking brake spring 149 in a known manner via line 147. As is known, when air is vented from the spring brake chamber 143 and the system air pressure drops to less than approximately 45 psi to 60 psi, the parking brake spring 149 is activated to apply the vehicle's parking brake. The structure and operation of the main parking brake controller 120 and the parking brake valve 138, which control the operation of the spring brake chamber 143 and the parking brake spring 149 to apply the parking brake, are conventional and will therefore not be described further.

[0020] While the pneumatic pressure in line 142 is changed to one or more spring brake chambers 143 to apply the parking brake, the pneumatic pressure in line 152 is changed to the trailer supply air connector 154 (which can be connected to the trailer parking brake of the vehicle) to enable the application of the trailer parking brake. The structure and operation of the main parking brake controller 120 and the parking brake valve 138 for controlling the operation of the trailer parking brake via the trailer supply air connector 154 are conventional and will therefore not be described further.

[0021] One or more pressure-voltage transducers are coupled to one or more corresponding parking brake assemblies. Each pressure-voltage transducer provides a voltage indicating the pressure associated with the corresponding parking brake assembly. More specifically, a first pressure-voltage transducer 171 senses the pressure in the pneumatic line 142 and provides a corresponding voltage to the main parking brake controller 120 on wire 175. A second pressure-voltage transducer 172 senses the pressure in the pneumatic line 142 and provides a corresponding voltage to the redundant parking brake controller 160 on wire 176. A third pressure-voltage transducer 173 senses the pressure in the pneumatic line 152 and provides a corresponding voltage to the main parking brake controller 120 on wire 177. A fourth pressure-voltage transducer 174 senses the pressure in the pneumatic line 152 and provides a corresponding voltage to the redundant parking brake controller 160 on wire 178.

[0022] The redundant parking brake controller 160, in the form of an electronic controller unit, is arranged to monitor signals on the CAN bus 110 to apply parking brake by providing one or more control signals based on control logic 162 stored in the data storage unit of the redundant parking brake controller 160. The redundant parking brake controller 160 provides a first control signal to a first 3 / 2 normally open solenoid valve 134 on line 164 and a second control signal to a second 3 / 2 normally open solenoid valve 142 on line 165.

[0023] The automated driver controller 180, in the form of an electronic controller unit, is arranged to monitor signals on the CAN bus 110 that indicate that the main parking brake controller 120 is unavailable for applying parking brakes (or trailer parking brakes). The automated driver controller 180 then provides one or more signals on the CAN bus 110 to activate the redundant parking brake controller 160 to apply parking brakes.

[0024] According to aspects of the invention, a redundant parking brake controller 160 and an automated driver controller 180 cooperate to provide an alternative parking brake solution in the event that the primary parking brake controller 120 is unavailable to cause the application of parking brake. The automated driver controller 110 monitors the primary parking brake controller 120, detects that the primary parking brake controller 120 is unavailable to cause the application of parking brake, and activates the redundant parking brake controller 160 to apply parking brake when unavailability is detected. More specifically, the redundant parking brake controller 160 has control logic 162, and the automated driver controller 180 has control logic 182 that cooperates with the control logic 162 of the redundant parking brake controller 160 to provide an alternative parking brake solution. Although shown separately, it is contemplated that the redundant parking brake controller 160 and the automated driver controller 180 may be combined into a single controller, and the control logic 162 and the control logic 182 may be combined into a single control logic block.

[0025] The first 3 / 2 normally open solenoid valve 134 and the second 3 / 2 normally open solenoid valve 144 are in Figure 1A It is shown in its de-energized position. Figure 1A In the de-energized position shown, compressed air is supplied to the spring brake chamber 143 and the trailer air supply connector 154 via the parking brake valve 138. Both parking brakes (i.e., the parking brake of the truck tractor and the parking brake of the truck trailer) are released (i.e., not applied). When the main parking brake controller 120 signals the parking brake valve 138 to apply the parking brake, the compressed air in line 142 and line 152 is released to the atmosphere, which allows the parking brake to be applied in a known manner.

[0026] However, if the parking brake is not applied in response to the main parking brake controller 120, the redundant parking brake processor 160 and the automated driver controller 180 cooperate to energize the first 3 / 2 normally open solenoid valve 134 and the second 3 / 2 normally open solenoid valve 144 to move them to Figure 1B The energized position is shown in the diagram. Figure 1B In the energized position shown, compressed air from the main compressed air supply unit 130 and compressed air from the auxiliary compressed air supply unit 140 are prevented from reaching the parking brake valve 138 by the first and second 3 / 2 normally open solenoid valves 134, 144, so that the parking brake can be applied when the main parking brake controller 120 signals the parking brake valve 138 to apply the parking brake. The parking brake is applied when the compressed air is prevented from reaching the spring brake chamber 143 and the trailer supply air connection 154.

[0027] More specifically, program instructions for the auxiliary parking brake control algorithm associated with the control logic 162 of the redundant parking brake controller 160 and the control logic 182 of the automated driver controller 180 are executed to provide a backup for the control logic 122 of the main parking brake controller 120 in the event that the parking brake is not applied in response to the execution of the program instructions for the main parking brake control algorithm associated with the control logic 122 of the main parking brake controller 120.

[0028] The unavailability of the parking brake to be applied may be due to a variety of reasons. One reason may be that the master parking brake controller 120 fails to execute the program instructions of the master parking brake control algorithm to apply the parking brake in response to a signal requesting the application of the parking brake. Another reason may be that one or more control signals from the master parking brake controller 120 fail to reach the parking brake assembly to allow the parking brake to be applied. Yet another reason may be due to the unresponsiveness of a portion of the parking brake valve 138 (e.g., the internal relay valve of the parking brake valve 138). Yet another reason may be due to a loss of communication between certain vehicle components, including components of the parking brake system. Other reasons for the unavailability of the parking brake to be applied are possible.

[0029] refer to Figure 2 Flowchart 200 illustrates an example computer implementation method for operating a parking brake device according to an embodiment. This computer implementation method is for an autonomous vehicle having a parking brake, a main parking brake controller, and an auxiliary parking brake controller, which is different from the main parking brake controller.

[0030] In block 210, the process begins by detecting that the primary parking brake controller is unavailable, causing the parking brake to be applied. This detection can be performed by looking for a signal at the primary parking brake controller's memory or on the CAN bus that indicates the unavailability of the parking brake applied in response to the primary parking brake controller applying the parking brake. Then, in block 220, the secondary parking brake controller responds by causing the parking brake to be applied in response to the unavailability of the primary parking brake controller. As an example, the secondary parking brake controller responds by sending a signal to the primary parking brake controller indicating that it is unavailable. As another example, when the secondary parking brake controller sees that the vehicle needs to be parked (e.g., when the secondary parking brake controller sees a message from the automated driver controller indicating that the vehicle needs to be parked), the secondary parking brake controller responds by simply not communicating with the primary parking brake controller at all. The process then ends.

[0031] In some embodiments, when the main parking brake controller is unavailable to cause the parking brake to be applied because the main parking brake controller is unable to provide one or more control signals to be applied to one or more parking brake valves so that one or more parking brake springs can apply the parking brake, the auxiliary parking brake controller causes the parking brake to be applied.

[0032] In some embodiments, when the main parking brake controller is unavailable to cause the parking brake to be applied because one or more control signals from the main parking brake controller cannot reach one or more parking brake valves to enable one or more parking brake springs to apply the parking brake, the auxiliary parking brake controller causes the parking brake to be applied.

[0033] In some embodiments, when the main parking brake controller is unavailable to cause the parking brake to be applied due to the parking brake valve of the parking brake system being unresponsive, the auxiliary parking brake controller causes the parking brake to be applied.

[0034] In some embodiments, the failure of the main parking brake controller is detected by receiving a signal from the main parking brake controller indicating that the main parking brake controller is unavailable via the auxiliary parking brake controller, thereby causing the parking brake to be applied.

[0035] In some embodiments, the inability of the main parking brake controller to be used is detected by receiving a signal from the autonomous driver controller indicating that the main parking brake controller is unavailable via the auxiliary parking brake controller, thereby causing the parking brake to be applied.

[0036] In some embodiments, the method is executed by a processor having memory that executes one or more instruction programs tangibly embodied in a processor-readable program storage medium.

[0037] Used to enable the auxiliary parking brake controller (e.g., Figure 1A The redundant parking brake controller 160 shown in Figure 1b, together with the automated driver controller 180, can execute according to... Figure 2 The program instructions for the operation steps of the flowchart 200 shown can be embedded in the memory inside the controller. Alternatively or additionally, the program instructions can be stored in memory outside the controller. As an example, the program instructions can be stored in the memory inside different electronic controller units of the vehicle. It is conceivable that any number of electronic controller units can be used. Furthermore, it is conceivable that any type of electronic controller unit can be used. Suitable electronic controller units for use in a vehicle are known and therefore not described. Thus, the program instructions of this disclosure can be stored on a program storage medium associated with one or more vehicle electronic controller units. The program instructions can be stored on any type of program storage medium, including but not limited to external hard disk drives, flash drives, and compact disks. Depending on the characteristics of a particular electronic controller unit, the program instructions can be reprogrammed.

[0038] exist Figure 3A and 3B The diagram illustrates a second embodiment of the parking braking device. Due to... Figure 3A and 3B The embodiments illustrated herein are generally similar to Figure 1A and 1B The embodiments illustrated herein use similar numbers to identify similar components, with the suffix letter "a" indicating the same meaning. Figure 3A and 3B The embodiments are related to avoid confusion.

[0039] The parking brake device 100a includes a main parking brake controller 120a, a redundant parking brake controller 160a, and an automated driver controller 180a. The main parking brake controller 120a controls the parking brake valve 138 and the spring brake chamber 143 (as described above) in a manner similar to that of the main parking brake controller 120. Figure 1A and 1B The operation of the parking brake valve 138a and the spring brake chamber 143a is controlled in the manner described in the embodiments.

[0040] Similarly, the redundant parking brake controller 160a controls the operation of the first and second 3 / 2 normally open solenoid valves 134, 144 in a manner similar to that of the redundant parking brake controller 160 (as described above). Figure 1A and 1B The operation of the first and second 3 / 2 normally open solenoid valves 134a and 144a is controlled in the manner described in the embodiments. The automated driver controller 180a communicates with the main parking brake controller 120 and the redundant parking brake controller 160 (as described above). Figure 1A and 1B It communicates with the main parking brake controller 120a and the redundant parking brake controller 160a in the same manner as described in the embodiments.

[0041] exist Figure 3A and 3B In one embodiment, the first relay valve 310 is disposed between the first 3 / 2 normally open solenoid valve 134a and the parking brake valve 138a. Similarly, the second relay valve 320 is disposed between the second 3 / 2 normally open solenoid valve 144a and the parking brake valve 138a.

[0042] Compressed air is supplied from the main compressed air supply unit 130a to the first 3 / 2 normally open solenoid valve 134a in line 131a, and then to the control port 313 of the first relay valve 310 in line 312. Pneumatic line 315 interconnects the delivery port 314 of the first relay valve 310 and the supply port 136a of the parking brake valve 138a. Compressed air is also supplied from the main compressed air supply unit 130a to the supply port 318 of the first relay valve 310 in line 316.

[0043] Compressed air is supplied from the auxiliary compressed air supply unit 140a to the second 3 / 2 normally open solenoid valve 144a in line 141a, and then to the control port 323 of the second relay valve 320 in line 322. Pneumatic line 325 interconnects the delivery port 324 of the second relay valve 320 and the supply port 146a of the parking brake valve 138a. Compressed air is also supplied from the auxiliary compressed air supply unit 140a to the supply port 328 of the second relay valve 320 in line 326.

[0044] In the event that the main parking brake controller 120a is unavailable to cause the parking brake to be applied, the redundant parking brake controller 160a and the automated driver controller 180a cooperate to energize the first and second 3 / 2 normally open solenoid valves 134a and 144a to deactivate them from... Figure 3A The power outage location shown has been moved to Figure 3B The energized position shown is thus consistent with the above description. Figure 1A and 1B The parking brake is applied in the same manner as described in the embodiments. However, in Figure 3A and 3B In the embodiment shown, the first and second relay valves 310 and 320 are used in conjunction with the first and second 3 / 2 normally open solenoid valves 134a and 144a to increase the compressed air flow to the parking brake valve 138a to apply the parking brake, while reducing the power required to energize the first and second 3 / 2 normally open solenoid valves 134a and 144a.

[0045] It should be clear that the above description refers to a backup parking brake system for an autonomous vehicle, which may or may not be occupied by a human "driver". If a human driver is occupying the autonomous vehicle, the human driver is not part of the backup parking brake system (i.e., no manual action from the human driver is required to activate the backup parking brake system if the primary parking brake system is unavailable for applying parking brake). Therefore, the backup parking brake system applies parking brake when the primary parking brake system fails to apply parking brake, such as when a control signal cannot reach the parking brake valve or when the parking brake valve is unresponsive.

[0046] It should also be clear that, with Figure 1A and 1B Parking brake device 100 and Figure 3A and 3B The parking brake control algorithm associated with the parking brake device 100a is integrated into practical applications that implement a low-cost backup parking brake mechanism for autonomous vehicles. The backup parking brake mechanism is low-cost because its implementation essentially requires only the addition of a pair of 3 / 2 normally open solenoid valves and a pair of controllers (or, if the redundant parking brake controller is combined with the automated driver controller, only a single controller is added).

[0047] By providing autonomous vehicles Figure 1A and 1B The aforementioned parking brake device 100 (and Figure 3A and 3B The parking brake device 100a) provides a backup parking brake mechanism, resulting in many advantages.

[0048] One advantage is that even if the primary parking brake system is unavailable, the service brake pressure can be maintained (i.e., there is no need to vent it to the atmosphere), allowing the service brakes to continue holding the vehicle if necessary. This eliminates the need to unload compressed air or shut off the vehicle's engine.

[0049] Another advantage is that, since the first and second 3 / 2 normally open solenoid valves 134, 144 are controlled by a single controller (i.e., the redundant parking brake controller 160), there is no need to coordinate solenoid valve diagnostics between the two controllers. This simplifies the design of the parking brake system and facilitates troubleshooting when maintenance of the parking brake mechanism is required.

[0050] Another advantage is that, since the two pressure-voltage transducers 171, 172 are coupled to the pneumatic line 142 leading to the spring brake chamber 143, an independent indication of the air pressure in the spring brake chamber 143 is provided. Similarly, since the two pressure-voltage transducers 173, 174 are coupled to the pneumatic line 154 leading to the trailer supply air connector 154, an independent indication of the air pressure in the trailer supply air connector 154 is provided. This is advantageous because the additional information can be used to meet additional functional safety requirements of the system.

[0051] Furthermore, although the above description describes the use of pressure-voltage transducers 171, 172, 173, and 174, it is conceivable that other types of transducers, such as wheel speed-voltage transducers (i.e., wheel speed sensors), could be used. As an example, in the case of using wheel speed sensors (alone or in combination with pressure-voltage transducers), it is possible to monitor the following sequence of events: (1) the vehicle is stationary, where the parking brake is released; (2) the vehicle is stationary, where the primary parking brake system indicates that the parking brake is activated; and (3) the vehicle is moving, where the primary parking brake system indicates that the parking brake is activated. Observation of this sequence of events indicates a rollaway from park rather than a rollaway due to the parking brake being unavailable or unable to be applied when needed. If this occurs, the automated driver controller 180 can use the service brake to stop the vehicle or attempt to park the vehicle using the backup parking brake system, while continuing to monitor the wheel speed sensors to determine whether the vehicle is remaining stationary.

[0052] The aspects of the disclosed embodiments can be implemented in software, hardware, firmware, or a combination thereof. Various elements of the system can be implemented individually or in combination as a computer program product tangibly embodied in a machine-readable storage device for execution by a processor. The various steps of the embodiments can be executed by a computer processor that executes a program tangibly embodied on a computer-readable medium to perform functions by manipulating inputs and generating outputs. The computer-readable medium can be, for example, a memory, a transportable medium such as a compact disk or a flash drive, such that the computer program embodying the aspects of the disclosed embodiments can be loaded onto a computer.

[0053] While the invention has been described by way of example processes and system components, and while various processes and components have been described in detail, the applicant does not intend to limit the scope of the appended claims or restrict them in any way to such details. Additional modifications will also be readily apparent to those skilled in the art. Therefore, the invention, in its broadest sense, is not limited to the specific details, implementations, or illustrative examples shown and described. Thus, deviations from such details may be made without departing from the spirit or scope of the applicant's overall inventive concept.

Claims

1. A parking brake device for an autonomous vehicle, the autonomous vehicle having components of a parking brake system for applying parking brake, the parking brake device comprising: A first controller is arranged to provide one or more control signals to be applied to components of the parking braking system to apply parking braking in response to a signal requesting the application of parking braking. as well as A second controller is configured to provide one or more control signals to be applied to other components of the parking braking system to apply parking braking in response to the inability of the first controller to cause parking braking to be applied. A parking brake valve that can be controlled by a first controller; The first 3 / 2 normally open solenoid valve is located between the main compressed air supply section and the parking brake valve; as well as The second 3 / 2 normally open solenoid valve is located between the auxiliary compressed air supply section and the parking brake valve; The second controller is configured to provide a first control signal to the first normally open 3 / 2 solenoid valve and a second control signal to the second normally open 3 / 2 solenoid valve.

2. The parking brake device for an autonomous vehicle according to claim 1, wherein (i) a first controller is configured to execute program instructions of a primary parking brake control algorithm to apply parking brake in response to a signal requesting the application of parking brake, and (ii) a second controller is configured to execute program instructions of an auxiliary parking brake control algorithm to apply parking brake in response to a first controller being unavailable to execute program instructions of the primary parking brake control algorithm to apply parking brake in response to a signal requesting the application of parking brake.

3. The parking brake device for an autonomous vehicle according to claim 1, wherein (i) a first controller is arranged to execute program instructions of a primary parking brake control algorithm to apply parking brake in response to a signal requesting the application of parking brake, and (ii) a second controller is arranged to execute program instructions of an auxiliary parking brake control algorithm to apply parking brake in response to one or more control signals from the first controller failing to reach a component of the parking brake system.

4. The parking brake device for an autonomous vehicle according to claim 1, wherein (i) a first controller is arranged to execute program instructions of a primary parking brake control algorithm to apply parking brake in response to a signal requesting the application of parking brake, and (ii) a second controller is arranged to execute program instructions of an auxiliary parking brake control algorithm to apply parking brake in response to the unresponsiveness of the parking brake valve of the parking brake system.

5. The parking brake device for an autonomously drivable vehicle according to claim 1, further comprising: The first relay valve is located between the first 3 / 2 normally open solenoid valve and the parking brake valve; as well as The second relay valve is located between the second 3 / 2 normally open solenoid valve and the parking brake valve.

6. The parking brake device for an autonomously driven vehicle according to claim 1, further comprising: A third controller is configured to (i) monitor the first controller, (ii) detect that the first controller is unavailable to cause the parking brake to be applied, and (iii) in response to detecting that the first controller is unavailable to cause the parking brake to be applied, activate the second controller to provide one or more control signals to be applied to the components of the parking brake system to apply the parking brake.

7. The parking braking device for an autonomously driven vehicle according to claim 6, wherein the second controller and the third controller constitute a single controller.

8. The parking brake device for an autonomously driven vehicle according to claim 6, further comprising: The Controller Area Network (CAN) bus enables the first, second, and third controllers to communicate with each other.

9. The parking brake device for an autonomously driven vehicle according to claim 1, further comprising: One or more pressure-voltage transducers coupled to one or more corresponding components of the parking braking system, wherein each pressure-voltage transducer provides a voltage indicating the pressure associated with the corresponding component of the parking braking system.

10. A parking brake device for an autonomous vehicle, the autonomous vehicle having components of a parking brake system for applying parking brake, the parking brake device comprising: A main parking brake controller is arranged to control one or more parking brake valves in response to a signal requesting the application of parking brake, so that one or more parking brake springs can apply parking brake. as well as The component is used to control one or more parking brake valves such that, when the vehicle is autonomously driven and no manual action from passengers of the autonomous vehicle is required, the one or more parking brake springs can apply parking brake when the main parking brake controller cannot cause parking brake to be applied. A first 3 / 2 normally open solenoid valve is disposed between the main compressed air supply section and the one or more parking brake valves; as well as The second 3 / 2 normally open solenoid valve is disposed between the auxiliary compressed air supply section and the one or more parking brake valves; The component is arranged to provide a first control signal to a first normally open 3 / 2 solenoid valve and a second control signal to a second normally open 3 / 2 solenoid valve.

11. The parking brake device for an autonomous vehicle according to claim 10, wherein the component includes a redundant parking brake controller arranged to control the one or more parking brake valves such that the one or more parking brake springs can apply parking brake when the main parking brake controller fails to cause parking brake to be applied.

12. The parking brake device for an autonomous vehicle according to claim 11, wherein the component includes an autonomous driver controller arranged to (i) monitor a main parking brake controller, (ii) detect when the main parking brake controller fails to respond to a signal requesting the application of parking brake, and (iii) when the main parking brake controller is detected to be unable to cause the application of parking brake, activate a redundant parking brake controller to control the one or more parking brake valves such that the one or more parking brake springs can apply parking brake.

13. The parking brake device for an autonomous vehicle according to claim 11, wherein the component includes an autonomous driver controller arranged to (i) monitor a main parking brake controller, (ii) detect when one or more control signals from the main parking brake controller fail to reach one or more components of the parking brake system, and (iii) when the one or more control signals from the main parking brake controller fail to reach the one or more components of the parking brake system, activate a redundant parking brake controller to control one or more parking brake valves such that the one or more parking brake springs can apply parking brake.

14. The parking brake device for an autonomous vehicle according to claim 11, wherein the component includes an autonomous driver controller arranged to (i) monitor a main parking brake controller, (ii) detect when a portion of the parking brake valve of the parking brake system is unresponsive, and (iii) when the unresponsiveness of said portion of the parking brake valve of the parking brake system is detected, activate a redundant parking brake controller to control said one or more parking brake valves such that said one or more parking brake springs can apply parking brake.

15. A computer-implemented method for an autonomous vehicle, the autonomous vehicle having a parking brake, a main parking brake controller, and an auxiliary parking brake controller different from the main parking brake controller, the computer-implemented method comprising: The main parking brake controller is not available to cause the parking brake to be applied; as well as In response to the unavailability of the main parking brake controller, the parking brake is applied electronically via the auxiliary parking brake controller by providing a first control signal to a first normally open 3 / 2 solenoid valve located between the main compressed air supply and the parking brake valve, and providing a second control signal to a second normally open 3 / 2 solenoid valve located between the auxiliary compressed air supply and the parking brake valve.

16. The computer-implemented method of claim 15, wherein, in response to the unavailability of the primary parking brake controller, electronically inducing the application of parking brake via the secondary parking brake controller comprises: When the main parking brake controller is unavailable to cause the parking brake to be applied because it cannot provide one or more control signals to be applied to one or more parking brake valves so that one or more parking brake springs can apply the parking brake, the parking brake is applied electronically via the auxiliary parking brake controller.

17. The computer-implemented method of claim 15, wherein, in response to the unavailability of the primary parking brake controller, electronically inducing the application of parking brake via the secondary parking brake controller comprises: When the main parking brake controller is unavailable to cause the parking brake to be applied because one or more control signals from the main parking brake controller cannot reach one or more parking brake valves to enable one or more parking brake springs to apply the parking brake, the parking brake is applied electronically via the auxiliary parking brake controller.

18. The computer-implemented method of claim 15, wherein, in response to the unavailability of the primary parking brake controller, electronically inducing the application of parking brake via the secondary parking brake controller comprises: When the main parking brake controller is unavailable to cause the parking brake to be applied due to the parking brake valve of the parking brake system being unresponsive, the parking brake is applied electronically via the auxiliary parking brake controller.

19. The computer implementation method of claim 15, wherein detecting that the master parking brake controller is unavailable to cause the parking brake to be applied comprises: The auxiliary parking brake controller receives electronically from the main parking brake controller a signal indicating that the main parking brake controller is unavailable.

20. The computer implementation method of claim 15, wherein detecting that the master parking brake controller is unavailable to cause the parking brake to be applied comprises: The auxiliary parking brake controller receives electronically from the autonomous driver controller a signal indicating that the main parking brake controller is unavailable.

21. The computer implementation method of claim 15, wherein the method is executed by a processor having memory that executes one or more instruction programs tangibly embodied in a processor-readable program storage medium.

Images