NZ723415A - Automatic Braking System - Google Patents
Automatic Braking SystemInfo
- Publication number
- NZ723415A NZ723415A NZ723415A NZ72341516A NZ723415A NZ 723415 A NZ723415 A NZ 723415A NZ 723415 A NZ723415 A NZ 723415A NZ 72341516 A NZ72341516 A NZ 72341516A NZ 723415 A NZ723415 A NZ 723415A
- Authority
- NZ
- New Zealand
- Prior art keywords
- vehicle
- braking system
- automatic braking
- brakes
- sensor
- Prior art date
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
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- 230000004913 activation Effects 0.000 description 9
- 238000002604 ultrasonography Methods 0.000 description 8
- 230000003213 activating Effects 0.000 description 3
- 230000001351 cycling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000007374 clinical diagnostic method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 238000006011 modification reaction Methods 0.000 description 1
Abstract
automatic braking system including: a control unit for controlling at least some of the brakes of a vehicle; and a contact sensor for detecting an impact.
Description
AUTOMATIC BRAKING SYSTEM
FIELD OF THE INVENTION
The present invention relates generally to automatic braking systems, and, in
particular, to automatic braking systems to be installed in roadwork vehicles, such as, for
example, lane closure vehicles.
BACKGROUND
Many trucks and commercial vehicles have service brakes which are engaged
by air (pneumatic) pressure. Usually, all of the wheels of the vehicle will carry a brake
which responds to pressurised air delivered along a supply line controlled by a foot pedal.
The harder the foot pedal is depressed the greater the quantity of pressurised air supplied
and the harder the brakes are applied.
In addition, the vehicle will have a parking brake which is engaged by a
mechanical spring which acts in opposition to a pneumatic cylinder. Air pressure within
the pneumatic cylinder acts to hold the parking brake in its disengaged position, whilst
release of the air pressure allows the mechanical spring to engage the parking brake.
Typically, the parking brake will operate upon the wheels of the rear axle of a vehicle.
In certain situations it is desired to have an automatic means of engaging the
brakes of the vehicle in addition to the foot pedal or parking brake lever/pedal/switch. One
example of such a situation is on a lane closure vehicle.
A lane closure vehicle is a vehicle, often a truck, which is used for the
temporary closure of a lane of a road. Typically, the lane closure vehicle will carry a large
arrow which directs following traffic to move out of the lane occupied by the vehicle. The
vehicle may be stationary, or may move slowly along the roadway, and is generally
implemented to protect road workers who may be working in or adjacent to that lane of the
roadway.
While lane closure vehicles have flashing lights to alert drivers of their
presence, it is possible that a driver on the road may fail to notice a lane closure vehicle
before is too late to brake or to take avoiding action. The relative speed between lane
closure vehicles and nearby traffic is typically large, and therefore the any impact between
traffic and lane closure vehicles is usually very damaging to the vehicles and their
occupants. As such, most lane closure vehicles include a large deformable "cushion" (i.e.
impact attenuator) at their rear, which can absorb an impact in the event a vehicle does
drive into them.
Lane closure vehicles may also include an automatic braking system in
addition to standard brakes. The automatic braking system activates the lane closure
vehicle's brakes in the event that another vehicle drives into the lane closure vehicle. Thus,
if the lane closure vehicle is moving slowly along the lane at the moment of impact and the
driver is unable immediately to apply the service brakes or parking brake, the automatic
braking system applies the lane closure vehicle's brakes so that the lane closure vehicle is
prevented from causing a secondary accident, perhaps by being pushed into a road worker
or further vehicle. One example of such a system is described in UK Patent No. 2453523.
The present invention seeks to provide an improved automatic braking system.
The reference in this specification to any prior publication (or information
derived from it), or to any matter which is known, is not, and should not be taken as, an
acknowledgement or admission or any form of suggestion that prior publication (or
information derived from it) or known matter forms part of the common general
knowledge in the field of endeavour to which this specification relates.
SUMMARY
In one broad form the present invention provides an automatic braking system
including: a control unit for controlling at least some of the brakes of a vehicle; and a
contact sensor for detecting an impact.
In one form, the control unit is configured to engage the brakes when an impact
is detected.
In one form, the automatic braking system is configured to be deactivated
under certain conditions.
In one form, the contact sensor is configured to be secured to an impact
attenuator that is movable between a stowed position and a deployed position, and wherein
the automatic braking system is deactivated when the attenuator is in the stowed position.
In one form, the automatic braking system further includes a proximity sensor
to detect movement of the impact attenuator between the stowed position and the deployed
position.
In one form, the impact attenuator is mounted to a trailer coupled to the
vehicle.
In one form, the contact sensor includes any one or a combination of a carbon
contact strip a pressure sensor and/or a gyroscopic accelerometer.
In one form, the automatic braking further includes a speed sensor for detecting
the speed of the vehicle.
In one form, the automatic braking system is deactivated when the speed of the
vehicle is above a predefined value.
In one form, the automatic braking system further includes a remote sensor for
detecting one or more parameters associated with determining the potential for impact with
an object.
In one form, the remote sensor includes any one or a combination of a radar
sensor, a stereo camera module, a laser sensor, a gyroscopic accelerometer and/or an
ultrasound sensor.
In one form, the control unit controls the brakes based on one or more signals
received from the remote sensor and/or the contact sensor.
In one form, the probability of an impact is determined based on one or more
parameters of an object as detected by the remote sensor.
In one form, the probability of an impact is determined based on the distance,
direction and/or speed of an object.
In one form, the control unit is configured to engage the brakes when the
probability of an impact is above a threshold value.
In one form, the automatic braking system further includes an alert system.
In one form, the alert system includes an audible alarm and/or warning lights.
In one form, the alert system is activated when the probability of an impact is
above a threshold value.
In one form, the alert system includes any one or a combination of an audible
alarm, integration with the vehicle horn and/or flashings lights.
In one form, the automatic braking system further includes a near-range sensor
for detecting a nearby object.
In one form, the near-range sensor includes any one or a combination of an
ultrasound sensor, an infrared sensor, an inductive sensor, a laser sensor, an
electromagnetic sensor and/or a proximity sensor.
In one form, the control unit is configured to engage the brakes of the vehicle
when an object is within a predetermined distance of the near-range sensor.
In one form, the automatic braking system further includes a mass sensor for
detecting the mass of the vehicle.
In one form, engagement of the brakes is modulated based on the vehicle mass.
In one form, engagement of the brakes is modulated based on a combination of
the vehicle mass and the distance of a nearby object as determined by the near- range
sensor.
In one form, the braking system is configured to be connected to a manually
operated parking brake lever of the vehicle, and wherein the system is configured such that
after the system has engaged the brakes of the vehicle, the brakes cannot be disengaged
until the parking brake lever has been cycled.
In one form, cycling the parking brake lever includes moving the lever to the
engaged position for at least a pre-determined time period and then returning it to the
disengaged position.
In one form, the pre-determined time period is 2 seconds.
In one form, the automatic braking system is configured to be connected to a
manually operated activation switch, and wherein the system is configured such that after
the system has engaged the brakes of the vehicle, the brakes cannot be disengaged until the
activation switch has been toggled.
In a further broad form, the present invention provides a vehicle including the
automatic braking system as described in any one of the forms herein.
In one from, the vehicle is a lane closure vehicle.
In one form, the vehicle includes a first brake means that is biased towards the
disengaged state and a second brake means that is biased towards the engaged state,
wherein the first brake means and the second brake means are engaged by the automatic
braking system when an impact is detected.
In one form, the second brake is a parking brake.
In one form, the first brake means includes a pneumatically-operated brake
having a first pneumatic cylinder connected to a pressurised air supply whereby the supply
of air activates the brake, and the second brake means includes a spring-actuated brake
having a second pneumatic cylinder connected to a pressurised air supply whereby the
supply of air opposes the spring and deactivates the brake, wherein a first valve is
connected to the pressurised air supply for the first brake means and a second valve is
connected to the pressurised air supply for the second brake means, the system being
configured to engage the brakes by issuing a signal to the first valve and to the second
valve, to thereby supply pressurised air to the first pneumatic cylinder and exhaust air from
the second pneumatic cylinder.
In a further broad form, the present invention provides an impact attenuator
including an automatic brake system as described in any one of the forms herein.
In one form, the automatic braking system as described in any one of the forms
herein is provided as all or part of a retrofit kit.
In a further broad form, the present invention provides a kit including a speed
sensor to detect the speed of a vehicle configured to be used with an automatic braking
system as described in any one of the forms herein.
In a further broad form, the present invention provides a kit including a
proximity sensor to detect movement of an impact attenuator between a stowed and a
deployed position configured to be used with an automatic braking system as described in
any one of the forms herein.
In a further broad form, the present invention provides an automatic braking
system including: a control unit for controlling at least some of the brakes of a vehicle; and
at least one sensor connected to the control unit for detecting an impact, imminent impact
and/or potential impact with an object, wherein the control unit controls the brakes based
on one or more signals received from the at least one sensor.
In one form, the control unit is further configured to control the drive speed of
the vehicle.
In one form, the control unit is configured to control the drive speed of the
vehicle via control of the throttle.
In one form, the at least one sensor includes any one or a combination of a
contact sensor, a remote sensor, or a near-range sensor.
In one form, the automatic braking system further includes a speed sensor for
detecting the speed of the vehicle.
In one form, the automatic braking system is deactivated when the speed of the
vehicle is above a predefined value.
BRIEF DESCRIPTION OF FIGURES
Example embodiments should become apparent from the following
description, which is given by way of example only, of at least one preferred but non-
limiting embodiment, described in connection with the accompanying figures, wherein:
Figure 1 is a schematic diagram of an automatic braking systems according to
one example of the present invention; and
Figure 2 is a flow chart of a decision process as implemented by the control
unit according to one example of the present invention.
Figures 3a and 3b show basic overview schematics of some examples of
automatic braking systems according to the invention.
DETAILED DESCRIPTION
The following modes, given by way of example only, are described in order to
provide a more precise understanding of the subject matter of a preferred embodiment or
embodiments.
Embodiments of the present invention provide an automatic braking system
that includes a control unit for controlling at least some of the brakes of a vehicle, and a
contact sensor for detecting an impact. Generally, the control unit is configured to engage
the brakes when an impact is detected by the contact sensor.
It will be appreciated that the control unit generally includes and electronic
processing device such as, for example, a microcontroller, microprocessor or other suitably
programmed electronic processing device. Typically the automatic braking system is retro
fitted to existing vehicle/impact attenuators, however it will be appreciated that
vehicles/impact attenuators may be produced which the system incorporated therein.
Generally speaking, the control unit is typically configured to engage the brakes on the
vehicle based on signals received from the contact sensor, which is usually placed on the
impact attenuator.
The automatic braking system as described herein looks to improve safety
measures associated with the use of road work vehicles, such as lane closure vehicles,
which often move slowly or remain stopped at the side of the road for long periods of time.
Once installed, the basic operation of the system is to engage the brakes when sufficient
impact detected by the contact sensor. This helps to minimise any unwanted movement of
the vehicle caused by an impact/collision. Whilst particularly suitable for road work
vehicles, it will be appreciated that the automatic braking system as described herein is not
limited to these types of vehicles and may be installed on other types of vehicles. The
system is typically installed on vehicles which are coupled with impact attenuators (e.g.
attenuator cushions), and the contact sensor positioned on the impact attenuator. When
there is an impact, the attenuator dampens the impact whilst the automatic braking system
engages the brakes of the vehicle. Apart from stopping the vehicle moving, the automatic
braking system also allows the attenuator to work more effectively, as one the vehicle
brakes have been applied, the attenuator cushion can more effectively crumple.
The presently described automatic braking system is particularly advantageous
over existing systems in that it may be also configured to be deactivated under certain
conditions. For example, the contact sensor may be configured to be secured to an impact
attenuator that is movable between a stowed position and a deployed position, and, when
the attenuator moves to the stowed position, the automatic braking system is configured to
be deactivated (or depowered). This deactivation functionality provides significant safety
advantages in that the brakes cannot be accidently engaged when the attenuator (typically
on impact cushion or the like) is stowed, such as, for example, whilst the host vehicle is in
transit. Generally to provide such functionality, the system includes a proximity sensor to
detect movement of the impact attenuator between the stowed position and the deployed
position. The system deactivating/reactivating (or powering/depowering), based on
feedback to the control unit from the proximity sensor. It will be appreciated that other
methods may be used to detect movement of the impact attenuator.
It will also be appreciated that the impact attenuator itself may take a variety of
forms but is typically mounted to a trailer coupled to the host vehicle. The contact sensor,
which is generally configured to be mounted to the attenuator, can also take a variety of
forms, although generally includes any one or a combination of: a carbon contact strip; a
pressure sensor; and a gyroscopic accelerometer.
As a further safety feature, the automatic braking system may also include a
speed sensor or may be configured/wired such that it is able to detect the speed of the host
vehicle to which it is installed (for example control unit may have input/output connection
to receive speed information). This allows the system to be activated/deactivated based on
the host vehicle speed. In one particular example, the system may be deactivated when the
speed of the vehicle is above a predefined value. Again, this particular setting helps to
prevent accidental engagement of the brakes when the system is travelling at speed, such
as, for example, during in transit between work sites.
Apart from a contact sensor, to detect actual impacts, the system may also
include a remote (or long range) sensor to detect potential or imminent impacts from
objects remote or distant from the vehicle, such as, for example, vehicles from nearby
traffic. Generally, the remote sensor may include any one or a combination of a radar
sensor, a stereo camera module, a laser sensor, a gyroscopic accelerometer, and/or an
ultrasound sensor. The remote sensor would typically be configured to detect one or more
parameters associated with determining the potential for impact with an object. The system
(e.g. via the control unit) may then determine the probability of an impact based the one or
more parameters detected by the remote sensor. For example, the probability of an impact
may be determined based on the distance, direction and/or speed of an object. The control
unit typically being configured to engage the brakes when the probability of an impact is
above a threshold value. It will be appreciated that, in some forms, the system may include
a plurality of remote sensors.
It will be appreciated that, generally speaking, the control unit may be
configured to control/apply the brakes of the vehicle based on one or more signals received
from the remote sensor and/or the contact sensor.
The automatic braking system may also include an alert system connected to
the control unit, or the control unit may include connection (e.g. input/output) for an
existing vehicle alert system such as for integration with the vehicle horn or theft alarm.
The alert system may for example include an audible alarm and/or warning lights. The
alert system is typically configured to activate when an imminent impact is detected,
flashing warning lights and/or sounding an alarm. The alert system thereby alerting
workers of a potential impact and allowing them sufficient time to escape harms way. The
alert system may, for example, be activated when the probability of an impact is above a
threshold value. It will be appreciated that the alert system may take a variety of forms but
generally would include any one or a combination of an audio speaker, integration with the
vehicle horn, lights (e.g. LED’s etc.).
The automatic braking system may also include a near-range sensor for
detecting nearby objects. The near-range sensor may, for example, include any one or a
combination of an ultrasound sensor, an infrared sensor, an inductive sensor, a laser sensor,
an electromagnetic sensor, and a proximity sensor. The control unit being appropriately
configured to engage the brakes of the vehicle when an object is within a predetermined
distance of the near-range sensor. It will be appreciated that the system may include a
plurality of near-range sensors. The inclusion of a near-range sensor can be particularly
advantageous in situations where manoeuvring movement of the vehicle is required, such
as when reversing.
In some examples, the system may also include a mass sensor for detecting the
mass of the vehicle (e.g. with or without cargo occupants). With the mass of the vehicle
known, engagement of the brakes may controlled or modulated such that the brakes are
applied in a manner that does not cause damage to the vehicle or occupants/cargo
travelling therein. Engagement of the brakes may also be modulated or controlled based on
a combination of the vehicle weight and the distance of a nearby object as determined by a
near- range sensor. For example, the control unit may be configured to calculate, based on
the stopping distance available (as received from the near-range sensor), the minimum
braking force that may be applied to stop the vehicle in time, taking into account the mass
of the vehicle.
As yet a further safety measure, once the automatic braking system has
engaged the brakes of the vehicle, it may be configured such that the brakes cannot be
disengaged without following a particular disengagement procedure (or a reset or
reactivation procedure).
For example, the automatic braking system may be configured to be connected
to a manually operated parking brake lever of the vehicle, with the brakes unable to be
disengaged until the parking brake lever has been cycled. Cycling the parking brake lever
may, for example, include moving the lever to the engaged position for at least a pre-
determined time period (e.g. 2 seconds) and then returning it to the disengaged position.
Alternatively or additionally, the braking system may be configured to be
connected to a manually operated activation switch, wherein the brakes cannot be
disengaged until the activation switch has been toggled.
It will be appreciated that the entire system may be depowered once the brakes
are engaged, and only after following a reactivation procedure is the system repowered
such that the brakes can be disengaged. Alternatively, the control unit may be suitably
programmed to prevent disengagement of the brakes until a reactivation procedure is
followed.
Although the automatic braking system herein is typically installed onto
existing vehicles or existing vehicle/impact attenuator combinations, it will be appreciated
that present invention may be provided in the form of a vehicle or vehicle/impact
attenuator combination which include the automatic braking system. It will also be
appreciated that the automatic braking system may be fitted to or provided as part of
impact attenuator alone to subsequently be connected with a host vehicle. It will also be
appreciated that the automatic braking system may be provided as a retrofit kit.
The automatic braking system is commonly used on lane closure vehicles,
which generally have a first brake means that is biased towards the disengaged state and a
second brake means that is biased towards the engaged state. The first brake means and the
second brake means are engaged by the automatic braking system when an impact (or an
imminent impact) is detected. The second brake means may, for example be a parking
brake.
In one particular example, the first brake means includes a pneumatically-
operated brake having a first pneumatic cylinder connected to a pressurised air supply
whereby the supply of air activates the brake, and the second brake means includes a
spring-actuated brake having a second pneumatic cylinder connected to a pressurised air
supply whereby the supply of air opposes the spring and deactivates the brake, wherein a
first valve is connected to the pressurised air supply for the first brake means and a second
valve is connected to the pressurised air supply for the second brake means, the system
being configured to engage the brakes by issuing a signal to the first valve and to the
second valve, to thereby supply pressurised air to the first pneumatic cylinder and exhaust
air from the second pneumatic cylinder.
It will be appreciated that the automatic braking system may be used with
various brake arrangements which may, for example, be pneumatically or hydraulically
powered.
Particular examples, of the braking system are now described with reference
the figures.
Referring to Figure 1, a schematic diagram of a braking system 10 is shown,
including front brakes 12 and rear brakes 13. Both the front brakes 12 and the rear brakes
13 can be engaged using a service brake system, while the rear brakes 13 can also be
engaged using a spring brake system, each of which will be described in more detail
below.
The front brakes 12 include front brake chambers 15 that are pneumatically
connected to ABS modulator valves 16, which are connected in turn to a front service relay
valve 17. A brake pedal 20, forming part of the service brake system, is connected to the
relay valve 17 through a pneumatic connection 22. An electrical connection 23 also links
the brake pedal 20 to the relay valve 17 via a double check valve 25.
The brake pedal 20 includes a valve, so that application of the brake pedal 20
causes pneumatic pressure to be transferred to the relay valve 17, which in turn is
transferred to the brake chambers 15 via the ABS modulator 16.
The front brakes 12 are disengaged by default. When the brake pedal 20 is
applied, the transfer of pneumatic pressure causes the brake chambers 15 to be activated,
engaging the front brakes 12 and applying a braking force to front wheels of the vehicle on
which the system 10 is installed.
The rear brakes 13 include rear brake chambers 30. The service brake system
includes a rear service relay valve 32 that is connected to the rear brake chambers 30 by
pneumatic connections 33. As for the front brakes 12, application of the brake pedal 20
causes pneumatic pressure to be transferred to the relay valve 32, which in turn is
transferred to the brake chambers 30. This causes the brake chambers 30 to be activated,
engaging the rear brakes 13 and applying a braking force to rear wheels of the vehicle.
Also, similarly to the front brakes 12, the service brake system on its own does not engage
the rear brakes 13 by default.
The rear brakes 13 also include a spring brake system, which may also be
referred to as a parking brake or emergency brake. The spring brake system is activated
using a spring brake actuator 35 that is connected to a spring relay valve 37. The rear
brake chambers 30 are connected to the spring relay valve 37 by pneumatic connections
The spring brake system causes the rear brakes 13 to be biased towards an
engaged state, applying a braking force to the rear wheels due to a force from a spring
activating the rear brake chambers 30. When the spring brake is to be released, the
actuator 35 is moved, causing pneumatic pressure to be transferred to the rear brake
chambers 30, thereby overcoming the force of the spring and releasing the spring brake.
The spring brake system is designed as a failsafe system. In the event of a
system failure, such as an air leak resulting in a lack of air pressure, the spring brake
system causes the rear brakes 13 to be applied due to the spring force and the absence of
the pneumatic pressure required to disengage the rear brake chambers 30.
The pneumatic system is powered by an engine driven air compressor 40 that
feeds pressurised air to a protection valve 42, which in turn feeds a spring brake air
reservoir 44, a rear service air reservoir 45 and a front service air reservoir 46.
While the braking system 10 is a pneumatic, or air operated system, it will be
appreciated that the present invention can be applied to other types of braking systems,
such as hydraulic, electrical or other systems, all of which are considered to fall within the
scope of the invention.
The braking system 10 includes a control unit 50 housing a micro-processor
that allows an automatic application of a braking force when sensors detect particular
conditions. The control unit 50 receives signals from sensors that include a radar sensor
52, one or more ultrasound sensors 54 and a speed sensor 56. The speed sensor 56 may be
one or more of a GPS sensor, gear box speed sensor, CAN bus signal or any other means
of sensing vehicle speed as familiar to those skilled in the art.
The system 10 includes a switch 60 located inside a cabin of the vehicle, which
incorporates a warning light 61 to indicate whether or not the system 10 is activated. A
buzzer 64 is also located inside the cabin, which may also include various warning lights
65, such as fault warnings, diagnostic indicator lights and the like.
The system 10 is powered by a battery 67, such as the 24V vehicle battery, and
includes a fuse 68 and earth terminal 69. Other inputs to the control unit 50 include a
contact sensor 70 and a proximity sensor 72 that are connected to the control unit 50 via a
junction box and relay 75. The control unit 50 also includes an electrical output to an
alarm/alert system in the form of a horn 78.
The radar sensor 52 detects objects that may potentially impact the vehicle,
such as other vehicles moving toward the radar sensor 52. Once an approaching object is
identified by the radar sensor 52, the system 10 continues to monitor the object in terms of
both the distance of the object from the vehicle and the speed at which it is approaching.
Other relevant parameters may also be calculated as necessary, such as but not limited to
rates of change of variables and relative direction of movement of the object.
Alternative means of determining such data other than the use of radar may
also be known to those skilled in the art, such as laser based sensors, and may be used in
place of the radar sensor 52. An alternative embodiment of the invention also includes two
or more different means of long distance detection. For example, the system may include a
Doppler radar system as well as a stereo camera module.
The data from the radar sensor 52 is processed by the control unit 50 using
software algorithms to compute the relative speed and closing distance of an imminent
impact object. If a probable impact is detected, the horn 78 is sounded as an alarm system
to alert workers close to the vehicle and/or the operator of the vehicle of the probable
impact. This allows a warning prior to the contact sensor 70 being activated if an actual
impact does occur. In alternative embodiments of the invention, different or additional
warning devices to the horn 78 may be used, such as flashing lights.
In the presently described example, the braking system 10 can typically detect
an approaching vehicle accurately from about 25 metres away using the radar sensor 52,
but improvements/variations in sensors, software algorithms and the like may provide an
increased range. As soon as a potential impact is detected, the software in the system 10
continues to compute the speed and distance of the object, looking for both deceleration
and/or a change in trajectory away from the sensor 52. The system 10 continues to
monitor to a first decision point (or threshold value), where if there is no significant change
in either state, a signal is sent to activate the alarm system.
In the case of the braking system 10 being used on a lane closure vehicle,
sometimes these vehicles are left unattended as a lane block, for example, while workers
concentrate on road repairs. Therefore, the braking system 10 will give warning to the
workers prior to the impact occurring, thereby providing additional time for the workers to
assess the danger and move out of the way or take other precautionary action. This is
advantageous, as more time is provided when compared to only being aware of a danger
after an impact has already occurred.
If an impact occurs, the contact sensor 70 is activated and a signal is sent to the
control unit 50. The front brakes 12 are then engaged using the service brake system, by a
connection between the control unit 50 and the double check valve 25 and front service
relay valve 17, resulting in a pneumatic force being transferred to the front brake cylinders
. The rear brakes 13 are also engaged using the spring brake system, by a connection
between the control unit 50 and the spring relay valve 37, resulting in a release of
pneumatic pressure from the rear brake cylinders 30 so that the spring force engages the
rear brakes 13.
In the presently described example, input from the radar sensor 52 may also be
used to engage the brakes, prior to the contact sensor 70 being activated. For example, the
alarm system may be activated due to a potential impact, and if there is still no significant
change in trajectory of an approaching object, a second decision point (or threshold value)
may be reached whereby the brakes are engaged. The control unit 50 may therefore be
configured to engage the brakes, even though the contact sensor 70 has not yet been
activated (i.e. before impact).
In the presently described example, the speed of the vehicle is known from the
speed sensor 56 and the control unit 50 uses this information to automatically disarm the
system 10 at a predetermined speed. This reduces the risk of an unrequested brake
application when the vehicle is travelling at speed, such as to or from a work zone. It
would be appreciated that, a fault in the system 10 causing the brakes to be applied without
warning when travelling at 100km/h on a freeway would be very dangerous/damaging.
The presently described system ensures this situation does not occur. Due to the layout of
the brake system 10 as described, completely deactivating the automatic brake system 10
still allows the brakes to function in a regular manner for driving the vehicle.
The layout of the system 10 also ensures that once the system 10 engages the
brakes, they can’t be accidentally disengaged. For example, if an impact is sufficient to
damage the vehicle's electrical system and the control signals for the braking system 10
fail, at least the spring brake will still remain engaged. Similarly, even if the brakes are
engaged automatically, and the service brake system subsequently fails (for example if the
impact damages the pneumatic system and an air leak allows the brakes to release), the
spring brake will remain engaged.
As described previously, the braking system 10 includes a manually operated
parking brake lever (spring brake actuator 35) and a manually operated activation switch
60. To further aid in preventing the inadvertent release of the brakes after an impact, the
braking system 10 is configured so that after the system 10 engages the brakes
automatically, such as due to a signal from the contact sensor 70, the brakes will not be
disengaged until after a specific deactivating procedure has been completed.
This deactivating procedure may include moving the actuator 35 to an engaged
position and then returning it to a disengaged position. Alternatively, the brakes may be
disengaged after the activation switch 60 has been moved to a deactivated position. Some
embodiments may require that both the activation switch 60 is deactivated while the
actuator 35 is cycled through park (i.e. moving actuator to the engaged position back to the
disengaged position). In some embodiments time delays may also be implemented, such
as only disengaging the brakes after the actuator 35 has been cycled through park (i.e. put
in the engaged position and returned to the disengaged position) over a set time, moving
the activation switch 60 to the deactivated position for a set time, or moving the actuator
to an engaged position for a set time before then disengaging. The set time may be any
suitable value, such as, but not limited to, 2 seconds.
In the case of the braking system 10 being used on a lane closure vehicle, such
a vehicle will generally include an attenuator or cushion on which the contact sensor 70 is
mounted and which is designed to absorb an impact. This attenuator or cushion may be
raised to a stowed position when the vehicle is being driven at speed, for example. When
it is raised to its stowed position, the system 10 may detect this using the proximity sensor
72 may be configured to automatically power down accordingly. This may be preferable
than only taking the contact sensor 70 out of circuit but leaving the system 10 activated as
it reduces the possibility of an inadvertent brake application while the attenuator/cushion is
stowed. Similarly, when the proximity sensor detects the attenuator/cushion to be the
deployed state, the system may be configured to power up.
On board diagnostics (not shown) monitor all components, supply voltages and
pressures. If any component/system failure or fault is detected, the control unit 50 chooses
an appropriate action. This may include activating a “limp home mode” or disarming the
system 10 for serious faults. It may additionally or alternatively include transmitting a
warning to the operator via the in-cab warning lights 65 and/or buzzer 64 specifying the
nature of the fault. For example, a minor malfunction of a sensor when there is a backup
in place may only require notifying the operator, but may still allow the system 10 to
function safely.
Furthermore, data from the ultrasound sensor 54 and/or the radar sensor 52
may be used individually or combined to aid reversing and manoeuvring operations. For
example, when reversing the vehicle, if a person or object is detected behind the vehicle
the system 10 can engage the brakes as previously described to prevent an impact. This is
particularly advantageous as it protects workers operating close to vehicles. This is
applicable not only to lane closure vehicles, but also other road maintenance heavy
vehicles and plant equipment. One particular application may be to protect workers who
are required to operate in very close proximity to road laying vehicles that dispense
aggregate onto a road surface.
In one example, when the vehicle is reversing (or otherwise manoeuvring) the
mass and speed of the vehicle (or other parameters) may be taken into account when
automatically applying the brakes. This allows the system 10 to modulate/control both the
speed and pressure required to stop the vehicle within a set distance from the worker or
obstacle that has been detected. For example, it may be desired for the vehicle to stop
within one metre after detecting an obstacle. Application of the brakes can be
modulated/controlled to enable this to happen, only resulting in extremely sudden or
violent braking if absolutely necessary. Such controlled braking can help to protect any
sensitive cargo and occupants.
In another example, when the vehicle is reversing (or otherwise manoeuvring)
the mass and speed of the vehicle (or other parameters) may be taken into account to delay
the brake application. The combination of sensors can account for the variation in distance
along with the speed and/or mass of the vehicle to arrive at a decision point (or threshold
value) where the obstacle or person is at very short distance from the vehicle rear, yet the
vehicle continues to move. The brakes may be applied for a few seconds or a warning
signal given, providing valuable time for either the person to move or allowing sufficient
time for the driver to look at what caused the application, prior to the vehicle being stopped
completely by the braking system 10.
In an air suspension vehicle the mass can be calculated from the air pressure
required to support the frame at a fixed height. For a mechanical suspension vehicle an
electronic height sensor can be fitted to measure the spring deflection. This data can be
combined with that from the speed sensor 56 as described previously. PWM (Pulse Width
Modulation) can then be used to adjust the amount of brake force required to stop the
vehicle before contact with any obstacle or person.
Figure 2 shows an example of a decision process as may be implemented by
the control unit 50. Different procedures are used depending on whether the vehicle is
being used as a road block 100 or during reversing operations 110.
During use as a road block 100, at least the radar sensor 52 and a stereo camera
(not included in the embodiment of Figure 1) are used at steps 112 and 114 to detect and
track a suspected incoming target to the rear of the vehicle. Data from these sensors are
combined with mass and speed information 116 to calculate parameters, such as time to
impact and expected impact magnitude. Decisions are made at 118 based on these
parameters and can result in signals being sent to record forces during an impact at step
120, record location at step 121, activate the horn 78 or other alert systems at step 122 and
to activate and modulate the brakes at step 123.
A similar process is applied during reversing operations 110, where the
ultrasound sensor 54 and radar sensor 52 are used at steps 130 and 112 to detect people or
objects near the rear of the vehicle. Data from these sensors are combined with mass and
speed information 116 to calculate parameters, such as time to impact and expected impact
magnitude. Decisions are made at 118 based on these parameters and can result in signals
being sent to record forces during an impact at step 120, record location at step 121,
activate the horn 78 or other alert systems at step 122 and to activate and modulate the
brakes at step 123.
Figure 3a and 3b show basic overview schematics of two examples of the
automatic braking system. As previously described vehicle brakes (301) are controlled by
the control unit (300) which receives and processes information from sensors (201-205).
Contact sensor (201) providing impact information, remote sensors and near-range sensors
(202 and 203) providing potential/imminent impact information, speed sensor (204)
providing host vehicle speed information, mass sensor (205) providing host vehicle mass
information, and proximity sensor (206) providing attenuator positon information.
As previously noted, it will be appreciated that the automatic braking system as
described herein may be applied to a range of vehicle types. One particular example is
garbage trucks, where line of sight behind the vehicle when reversing is often obstructed.
In these and other variations the system may further include an emergency stop button
connected to the control unit and made easily accessible within the cab of the vehicle.
Activation of the emergency stop button would immediately activate the brakes of the
vehicle. Also, in some examples, such as when adapted for use in garbage trucks, it will be
appreciated that the contact sensor may not be required or may be difficult to implement
(e.g. due to the loading area of at the rear of the garbage truck). In such instances, the
system may rely primarily on the remote and/or near range sensors to detect potential
impacts, such as, for example, with pedestrians moving about behind the vehicle.
It will also be appreciated that in further forms, the system may be further
configured such that the control unit may override control of the vehicle drive speed, for
example via control of the throttle or otherwise. This may be advantageous in situations
where the driver may have been injured during impact, and although the brakes have been
applied, the driver is still unintentionally activating the accelerator of the vehicle.
It will also be appreciated that installation/fitting of the automatic braking
systems as described herein may be staged. For example, a basic form including contact
sensor and control unit may be fitted initially, with subsequent addition of remote/near-
range/speed sensors being installed/fitted separately subsequently. As such, it will be
appreciated that different aspects of the system may be provided as add-on retrofit kits.
Many modifications will be apparent to those skilled in the art without
departing from the scope of the present invention.
Parts list:
Brake system 44 Spring brake air reservoir
12 Front brake system 45 Rear service air reservoir
13 Rear brake system 46 Front service air reservoir
Front brake chambers 50 Control unit
16 ABS modulator valve 52 Radar sensor
17 Front service relay valve 54 Ultrasound sensor
Brake pedal 56 Speed sensor
22 Pneumatic connection 60 In-cab switch
23 Electrical connection 61 Warning light
Double check valve 64 In-cab buzzer
Rear brake chambers 65 Warning lights
32 Rear service relay valve 67 Batteries
33 Pneumatic connection 68 Fuse
Spring brake actuator 69 Earth
37 Spring relay valve 70 Contact strip
38 Pneumatic connection 72 Proximity sensor
40 Air compressor 75 Junction box and relay
42 Protection valve 78 Horn
Claims (9)
1. An automatic braking system including: a control unit for controlling at least some of the brakes of a vehicle; and a contact sensor for detecting an impact.
2. The automatic braking system as claimed in claim 1, wherein the control unit is configured to engage the brakes when an impact is detected.
3. The automatic braking system according to claim 1 or 2, wherein the automatic braking system is configured to be deactivated under certain conditions.
4. The automatic braking system according to any one of the preceding claims, wherein the contact sensor is configured to be secured to an impact attenuator that is movable between a stowed position and a deployed position, and wherein the automatic braking system is deactivated when the attenuator is in the stowed position.
5. The automatic braking system as claimed in claim 4, further including a proximity sensor to detect movement of the impact attenuator between the stowed position and the deployed position.
6. The automatic braking system as claimed in claim 4 or 5, wherein the impact attenuator is mounted to a trailer coupled to the vehicle.
7. The automatic braking system according to any one of the preceding claims, wherein the contact sensor includes any one or a combination of a carbon contact strip, a pressure sensor and/or a gyroscopic accelerometer.
8. The automatic braking system as claimed in any one of the preceding claims, further including a speed sensor for detecting the speed of the vehicle.
9. The braking system as claimed in 8, wherein the automatic braking system is deactivated when the speed of the vehicle is above a predefined value. H:\lza\Interwoven\NRPortbl\DCC\LZA\10826513_1.docx-19/
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2015903386 | 2015-08-21 |
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Publication Number | Publication Date |
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NZ723415A true NZ723415A (en) |
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