SE539186C2 - A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit - Google Patents

A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit Download PDF

Info

Publication number
SE539186C2
SE539186C2 SE1550775A SE1550775A SE539186C2 SE 539186 C2 SE539186 C2 SE 539186C2 SE 1550775 A SE1550775 A SE 1550775A SE 1550775 A SE1550775 A SE 1550775A SE 539186 C2 SE539186 C2 SE 539186C2
Authority
SE
Sweden
Prior art keywords
vehicle
check position
position test
brake arrangement
parking
Prior art date
Application number
SE1550775A
Other languages
Swedish (sv)
Other versions
SE1550775A1 (en
Inventor
Gahlin Jenny
STIERNSTEDT Linus
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1550775A priority Critical patent/SE539186C2/en
Priority to DE102016006527.3A priority patent/DE102016006527B4/en
Publication of SE1550775A1 publication Critical patent/SE1550775A1/en
Publication of SE539186C2 publication Critical patent/SE539186C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/20—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger specially for trailers, e.g. in case of uncoupling of or overrunning by trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
    • B60T13/26—Compressed-air systems
    • B60T13/261—Compressed-air systems systems with both indirect application and application by springs or weights and released by compressed air
    • B60T13/265—Compressed-air systems systems with both indirect application and application by springs or weights and released by compressed air dependent systems, e.g. trailer systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B60T8/1887—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution especially adapted for tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

23 ABSTRACT The invention relates to a method for secure parking of a vehicle (100) comprising a tractorunit (110) and a trailer unit (112), said tractor unit (110) comprising a parking brakearrangement (250a, 250b) and said trailer unit (112) comprising a pneumatically operated brake arrangement (260), comprising the steps of:- bringing (s410) the vehicle (100) to a stand still state;- determining (s420) at least one parameter affecting possibilities for the vehicle (100) to stand still; - determining (5430) if a check position test is required on the basis of the thus determined at least one parameter;- bringing (s440) the vehicle (100) to a parking state; - if it is determined that the check position test is required, indicating (s450) for an operatorof the vehicle (100) that the check position test should be performed and/or performing (s470) said check position test automatically. The invention relates also to a computer programme product comprising program code (P)for a computer (200; 210; 500) for implementing a method according to the invention. Theinvention relates also to a system for secure parking of a vehicle (100) and a vehicle (100) equipped with the system. Figure 2 for publication

Description

A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit TECHNICAL FIELD The present invention relates to a method for secure parking of a vehicle comprising atractor unit and a trailer unit. The invention relates also to a computer program productcomprising program code for a computer for implementing a method according to theinvention. lt relates also to a system for secure parking of a vehicle comprising a tractor unit and a trailer unit and a vehicle being equipped with the system.
BACKG ROUND Some vehicles of today comprise a tractor unit and a trailer unit and have a parking brakesystem comprising a parking brake arrangement being provided at said tractor unit and apneumatically operated brake arrangement being provided at said trailer unit. Said pneumatically operated brake arrangement may comprise service brakes of said trailer unit.
Due to various reasons compressed air may leak out of said pneumatically operated brakearrangement of said trailer unit so that an applied braking force is reduced over time when said vehicle is parked, e.g. over night or between driving shifts.
Hereby a so called check position test is performed, wherein an operator manually activatessaid test when parking the vehicle. Hereby said pneumatically operated brake arrangementof said trailer unit is temporarily de-activated so as to find out if said vehicle may stand stillonly using the parking brake arrangement of said tractor unit. lf so, it is considered to besafe to leave the vehicle in a parked state, even if there is a risk that an activatedpneumatically operated brake arrangement being provided at said trailer unit mayexperience reduced braking force. This is naturally preferable if said vehicle is parked on a ground surface presenting a slope and/or on a ground surface being slippery. ln case a vehicle is provided with an automatically activated parking system comprising saidparking brake arrangement of said tractor unit and said pneumatically operated brakearrangement of said trailer unit, there is a risk said test is never performed. This is associated with increased risk for severe or even fatal accidents.
EP2719594 relates to a method for operating an electrically operable parking brake system.
SUMMARY OF THE INVENTION An object of the present invention is to propose a novel and advantageous method for secure parking of a vehicle comprising a tractor unit and a trailer unit.
Another object of the invention is to propose a novel and advantageous system and a noveland advantageous computer program for secure parking of a vehicle comprising a tractor unit and a trailer unit.
An object of the present invention is to propose a user friendly and cost effective method providing secure parking of a vehicle comprising a tractor unit and a trailer unit.
Another object of the invention is to propose a user friendly, reliable and cost effectivesystem and computer program for secure parking of a vehicle comprising a tractor unit and a trailer unit.
Yet another object of the invention is to propose an alternative method, an alternativesystem and an alternative computer program for secure parking of a vehicle comprising a tractor unit and a trailer unit.
Some of these objects are achieved with a method for secure parking of a vehicle comprisinga tractor unit and a trailer unit according to claim 1. Other objects are achieved with a system for secure parking of a vehicle comprising a tractor unit and a trailer unit according to claim 7. Advantageous embodiments are depicted in the dependent claims. Substantiallythe same advantages of method steps of the innovative method hold true for corresponding means of the innovative system.
According to an aspect of the invention there is provided a method for secure parking of avehicle comprising a tractor unit and a trailer unit, said tractor unit comprising a parkingbrake arrangement and said trailer unit comprising a pneumatically operated brake arrangement. The method comprising the steps of: - bringing the vehicle to a stand still state;- determining at least one parameter affecting possibilities for the vehicle to stand still; - determining if a check position test is required on the basis of the thus determined at least one parameter;- bringing the vehicle to a parking state; - if it is determined that the check position test is required, indicating for an operator of thevehicle that the check position test should be performed and/or performing said check position test automatically.
Hereby a reliable, cost effective and robust method for secure parking of a vehiclecomprising a tractor unit and a trailer unit is achieved. Said method is user friendly and provides increased safety relating to parked vehicles.Said pneumatically operated brake arrangement may be a service brake arrangement.The method may comprise the step of: - manually ínitiating said check position test upon receipt of said indication to said operator.
Hereby a versatile method is provided.
Said step of determining said at least one parameter may comprise the step of determiningat least one of the parameters slope of the ground upon which the vehicle is standing, massof said vehicle, a wheel axle configuration of said vehicle and frictional properties of said ground.
The step of bringing the vehicle to a parking state may comprise the step of activating said parking brake arrangement and said pneumatically operated brake arrangement.The method may comprise the step of: - performing certain measures when it is revealed that the vehicle is moving during saidcheck position test. Said measures may comprise at least one of the measures informing anoperator of the vehicle, informing an external supervision institution, operating acompressor arrangement for supplying compressed air to said pneumatically operated brakearrangement and keeping at least one ECU of the vehicle opera ble for managing said pneumatically operated brake arrangement.
According to an aspect of the invention there is provided a system for secure parking of avehicle comprising a tractor unit and a trailer unit, said tractor unit comprising a parkingbrake arrangement and said trailer unit comprising a pneumatically operated brake arrangement, comprising:- means for bringing the vehicle to a stand still state;- means for determining at least one parameter affecting possibilities for the vehicle to stand still; - means for determining if a check position test is required on the basis of the thus determined at least one parameter;- means for bringing the vehicle to a parking state; - means for, if it is determined that the check position test is required, indicating for anoperator of the vehicle that the check position test should be performed and/or means for performing said check position test automatically.The system may comprise: - means for manually initiating said check position test upon receipt of said indication to saidoperator. The system said may comprise means for determining a slope of the ground uponwhich the vehicle is standing. The system said may comprise means for determining a mass of said vehicle. The system said may comprise means for determining a wheel axle configuration of said vehicle. The system said may comprise means for determining frictional properties of said ground.
The system may comprise: - means for activating said parking brake arrangement and said pneumatically operated brake arrangement for bringing the vehicle to a parking state.
The system may comprise: - means for performing certain measures when it is revealed that the vehicle is movingduring said check position test. The system said may comprise means for informing anoperator of the vehicle about a result of said check position test. The system may comprisemeans for informing an operator of the vehicle about suitable measures if said checkposition test result indicates that said vehicle is not safely parked using only said parking brake arrangement of said tractor unit.
The system may comprise means for informing an external supervision institution about aresult of said check position test. The system may comprise means for informing saidexternal supervision institution about suitable measures if said check position test resultindicates that said vehicle is not safely parked using only said parking brake arrangement of said tractor unit.
The system may comprise means for operating a compressor arrangement for supplyingcompressed air to said pneumatically operated brake arrangement while the vehicle isparked, e.g. over night or during any relevant period oftime. The system may comprisemeans for keeping at least one ECU of the vehicle opera ble for managing said pneumaticallyoperated brake arrangement while the vehicle is parked, e.g. over night or during any relevant period of time.
According to an aspect of the invention there is provided a vehicle comprising a tractor unitand a trailer unit comprising the innovative system. The vehicle may be any from among a truck or a bus.
According to an aspect of the invention there is provided a computer program for secureparking of a vehicle comprising a tractor unit and a trailer unit, wherein said computerprogram comprises program code for causing an electronic control unit or a computerconnected to the electronic control unit to perform the steps according to anyone of the claims 1-6, when run on said electronic control unit or said computer.
According to an aspect of the invention there is provided a computer program for secureparking of a vehicle comprising a tractor unit and a trailer unit, wherein said computerprogram comprises program code stored on a computer-readable medium for causing anelectronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-6.
According to an aspect of the invention there is provided a computer program for secureparking of a vehicle comprising a tractor unit and a trailer unit, wherein said computerprogram comprises program code stored on a computer-readable medium for causing anelectronic control unit or a computer connected to the electronic control unit to perform thesteps according to anyone of the claims 1-6, when run on said electronic control unit or said computer.
According to an aspect of the invention there is provided a computer program productcontaining a program code stored on a computer-readable medium for performing methodsteps according to anyone of claims 1-6, when said computer program is run on an electronic control unit or a computer connected to the electronic control unit.
According to an aspect of the invention there is provided a computer program productcontaining a program code stored non-volatile on a computer-readable medium forperforming method steps according to anyone of claims 1-6, when said computer program is run on an electronic control unit or a computer connected to the electronic control unit.
Further objects, advantages and novel features of the present invention will become apparent to one skilled in the art from the following details, and also by putting the invention into practice. Whereas the invention is described below, it should be noted that itis not confined to the specific details described. One skilled in the art having access to theteachings herein will recognise further applications, modifications and incorporations in other fields, which are within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and its further objects and advantages, thedetailed description set out below should be read in conjunction with the accompanyingdrawings, in which the same reference notations denote similar items in the various diagrams, and in which: Figure 1 schematically illustrates a vehicle according to an embodiment of the invention;Figure 2 schematically illustrates a subsystem for the vehicle depicted in Figure 1, accordingto an embodiment of the invention; Figure 3 schematically illustrates a vehicle according to an embodiment of the invention;Figure 4a is a schematic flowchart of a method according to an embodiment of theinvention; Figure 4b is a more detailed schematic flowchart of a method according to an embodimentof the invention; and Figure 5 schematically illustrates a computer according to an embodiment of the invention.
DETAILED DESCRIPTION OF THE DRAWINGS Figure 1 depicts a side view of a vehicle 100. The exemplified vehicle 100 is hereby a tractor unit 110 and a trailer unit 112. The vehicle may be a heavy vehicle, e.g. a truck or a bus. lt should be noted that the inventive system is applica ble to various vehicles comprising atractor unit and a trailer unit, said tractor unit comprising a parking brake arrangement andsaid trailer unit comprising a pneumatically operated brake arrangement, such as e.g. a mining machine, tractor, platform comprising an industrial robot, forest machine, earth mover, road construction vehicle or emergency vehicle. The vehicle 100 may according to an example be an autonomous vehicle.
The term ”link” refers herein to a communication link which may be a physical connectionsuch as an opto-electronic communication line, or a non-physical connection such as awireless connection, e.g. a radio link or microwave link.
The vehicle 100 comprises a subsystem 299, said subsystem 299 is depicted in greater detail with reference to Figure 2 below.
Figure 2 schematically illustrates said subsystem 299 of the vehicle 100 according to an example em bodiment.
A first sensor configuration 220 is arranged for communication with a first electronic controlunit 200 via a link L220. Said first sensor configuration 220 is arranged to continuously orintermittently determine a slope ot of a ground surface which said vehicle 100 is standingupon. Said first sensor configuration 220 is arranged to continuously or intermittently sendsignals S220 comprising information about said detected slope ot of the ground to the firstcontrol unit 200 via said link L220. Said first sensor configuration 220 may comprise one or mOfE gyfOS and/Of' One Of' mOfE aCCElEFOmEtEFS.
A second sensor configuration 230 is arranged for communication with said first electroniccontrol unit 200 via a link L230. Said second sensor configuration 230 is arranged tocontinuously or intermittently determine frictional properties of said ground upon whichsaid vehicle 100 is standing. Said second sensor configuration 230 is arranged tocontinuously or intermittently send signals S230 comprising information about said detectedfrictional properties of said ground to the first control unit 200 via said link L230. Said secondsensor configuration 230 may comprise a camera and image processing means fordetermining Characteristics of said ground surface. Alternatively said second sensorconfiguration 230 may comprise a suitable radar means or radar technology for determiningCharacteristics of said ground surface. Hereby a parameter affecting possibilities for thevehicle to stand still may be determined. lt may for example be determined if said round surface at least partly comprises ice, snow, any liquids, mud or gravel.
A third sensor configuration 235 is arranged for communication with a first electroniccontrol unit 200 via a link L235. Said third sensor configuration 235 is arranged tocontinuously or intermittently determine a vehicle speed V. When vehicle speed V isdifferent from 0 it may be taken as an indication of vehicle movement. Said third sensorconfiguration 235 is arranged to continuously or intermittently send signals S235 comprisinginformation about said detected vehicle speed V to the first control unit 200 via said linkL235. Said third sensor configuration 235 may comprise a rotational speed sensor being provided at a wheel of said vehicle 100.
An actuator means 240 is arranged for communication with said first electronic control unit200 via a link L240. Said actuator means 240 is arranged to send signals S240 comprisingcontrol commands to said first control unit 200 via said link L240. Said actuator means isarranged for manual operation by an operator of the vehicle 100. Said actuator means 240 is arranged to activate/de-activate a parking brake system of the vehicle 100.
Herein said parking brake system comprises two separate braking arrangements, one for said tractor unit 110 and one for said trailer unit 112.
A first parking brake arrangement 250a is provided at a front wheel axle of the tractor unit110. Said first parking brake arrangement 250a may comprise any suitable parking brake.Said first control unit 200 is arranged to control said first parking brake arrangement 250a bymeans of signals S250a sent via a link L250a. Said first control unit 200 is arranged to control said first parking brake arrangement 250a based on signals from said actuator means 240.
A second parking brake arrangement 250b is provided at a rear wheel axle of the tractor unit110. Said second parking brake arrangement 250b may comprise any suitable parking brake.Said first control unit 200 is arranged to control said second parking brake arrangement250b by means of signals S250b sent via a link L250b. Said first control unit 200 is arrangedto control said second parking brake arrangement 250b based on signals S240 from said actuator means 240.
Said parking brake system may be configured in any suitable manner and comprise any suitable set of parking brake arrangements.
A pneumatically operated brake arrangement 260 is provided at a wheel axle of said trailerunit 260. Said pneumatically operated brake arrangement 260 may be a service brakearrangement. Said first control unit 200 is arranged to control said pneumatically operatedbrake arrangement 260 by means of signals S260 sent via a link L260. Said first control unit200 is arranged to control said pneumatically operated brake arrangement 260 based on signals from said actuator means 240.
Said first control unit 200 is arranged to perform a check position test of the vehicle 100.Hereby said first control unit is arranged to temporarily de-activate said pneumaticallyoperated brake arrangement 260 by operating a compressor arrangement (not shown) forsupplying compressed air to said pneumatically operated brake arrangement. Hereby saidpneumatically operated brake arrangement 260 is not providing any braking force during a certain time period, such as e.g. 2, 5 or 10 seconds. lndication means 270 is arranged for communication with said first control unit 200 via a linkL270. Said first control unit 200 is arranged to present information to an operator of thevehicle 100 by means of said indication means. Said presented information is according to anembodiment comprising information about that a check position test is required. Saidindication means may comprise a presentation screen, audio-visual means, tactile means, acombination thereof, or any other suitable means for indicating for an operator that performance of a check position test is required, when applicable.
Said first control unit is arranged for communication with a remote and vehicle externalsupervision institution 280, such as a fleet management station, via a link L280. Said firstcontrol unit 200 is arranged to send signals S280 comprising e.g. information about a resultof a performed check position test or an indication about that a check position test isrequired, via said link L280 and by means of any suitable means, such as a transmitter/receíver unit (not shown).
Herein is depicted that said trailer unit 112 is connected to said tractor unit 110. This may bedetected by means of any suitable means (not shown). Information about if said trailer unit 112 is connected to said tractor unit 110 may be transmitted to said first control unit 200. 11 The innovative method is according to an embodiment only used if said trailer unit is connected to said tractor unit 110.
A second control unit 210 is arranged for communication with the first control unit 200 via alink L210. lt may be adapted to conducting the innovative method steps according to theinvention. The second control unit 210 may be arranged to perform the inventive methodsteps according to the invention. lt may be used to cross-load software to the first controlunit 200, particularly software for conducting the innovative method. lt may alternatively bearranged for communication with the first control unit 200 via an internal network on boardthe vehicle 100. lt may be adapted to performing substantially the same functions as thefirst control unit 200, such as, if it is determined that the check position test is required,indicating for an operator of the vehicle that the check position test should be performedand/or performing said check position test automatically. The innovative method may be conducted by the first control unit 200 or the second control unit 210, or by both of them.
Figure 3 schematically illustrates a vehicle 100 according to an embodiment of the invention.
Herein is illustrated that said vehicle 100 is parked on a ground surface presenting a slope ot degrees relative a horizontal line.
Hereby is also illustrated said parking brake system of the vehicle. lt is illustrated that a firstparking brake arrangement 250a is provided at a front wheel axle ofthe tractor unit 110 anda second parking brake arrangement 250a is provided at a rear wheel axle of the tractor unit110. As depicted herein said parking brake system of the vehicle may be any suitable parkingbrake system being arranged adequately. Further it is illustrated that said pneumatically operated service brake arrangement is provided at a wheel axle of said trailer unit 112.
Figure 4a schematically illustrates a flow chart of a method for secure parking of a vehicle100 comprising a tractor unit 110 and a trailer unit 112, said tractor unit 110 comprising a parking brake arrangement and said trailer unit 112 comprising a pneumatically operated 12 brake arrangement. The method comprises the method step s401. The method step s401 comprises the steps of: - bringing the vehicle 100 to a stand still state; - determining at least one parameter affecting possibilities for the vehicle 100 to stand still; - determining if a check position test is required on the basis of the thus determined at least one parameter;- bringing the vehicle 100 to a parking state; - if it is determined that the check position test is required, indicating for an operator of thevehicle 100 that the check position test should be performed and/or performing said check position test automatically.
After the method step s40l the method is ended.
Figure 4b schematically illustrates a flow chart of a method for secure parking of a vehicle100 comprising a tractor unit 110 and a trailer unit 112, said tractor unit 110 comprising aparking brake arrangement and said trailer unit 112 comprising a pneumatically operatedbrake arrangement. The method comprises the method step s410. The method step s410comprises the step of bringing the vehicle 100 to a stand still state. Hereby an operator ofthe vehicle 100 operates the vehicle so that said stand still state is achieved. This may beachieved by means of a conventional brake pedal (not shown) of said tractor unit 110.Alternatively the method step s410 may be performed automatically by means of said firstcontrol unit 200 and suitable actuator means (not shown). After the method step s410 a subsequent method step s420 is performed.
The method step s420 comprises the step of determining at least one parameter affectingpossibilities for the vehicle 100 to stand still. The method step s42O may comprise the stepof determining slope a of the ground upon which the vehicle 100 is standing this may beperformed by means of said first sensor configuration 220. The method step s42O maycomprise the step of determining a prevailing mass M of said vehicle. This may be performed by measuring a prevailing air pressure in a suspension system of the vehicle 100, or by any 13 suitable means. The method step s420 may comprise the step of determining a wheel axleconfiguration of said vehicle 100. Information about said wheel axle configuration may bestored in a memory of the first control unit 200 or in a memory of the second control unit210. The method step s420 may comprise the step of determining frictional properties ofsaid ground. This may for example be performed by means of said 230. After the method step s420 a subsequent method step 5430 is performed.
The method step s430 comprises the step of determining if a check position test is requiredon the basis of the thus determined at least one parameter. This may be performed by means of said first control unit 200. The step s430 may be performed in any suitable way.
According to one embodiment it is determined that said check position test is required if it isdetermined that said determined slope oi exceeds a predetermined threshold value TH1.Said predetermined threshold value TH1 may any suitable threshold value, such as 2, 4, 6 or 10 degrees.
According to one embodiment it is determined that said check position test is required if it isdetermined that said mass M of said vehicle 100 exceeds a predetermined threshold valueTH2. Said predetermined threshold TH2 value may any suitable threshold value, such as e.g. 10 or 20 tons.
According to one embodiment it is determined that said check position test is required if it isdetermined that said wheel axle configuration of said vehicle 100 comprises more than apredetermined number N of wheel axles. Said predetermined number N of wheel axles may be e.g. 3, 4 or 5 wheel axles.
According to one embodiment it is determined that said check position test is required if it isdetermined that a value representing said frictional properties of said ground exceeds a predetermined threshold value TH3. For example, if it is detected that a likelihood of at leasta part of said ground is provided with ice, mud or gravel exceeds a predetermined value it is determined that said check position test is required.
After the method step s430 a subsequent method step s440 is performed.
The method step s440 comprises the step of bringing the vehicle 100 to a parking state. This may be performed manually by an operator affecting any suitable means, such as said 14 actuator means 240 and/or turning off an engine of the tractor unit 110. Alternatively thismay be performed automatically by means of said first control unit 200. The step of bringingthe vehicle 100 to a parking state may comprise the step of activating said parking brake arrangement and said pneumatically operated brake arrangement.
After the method step s440 either a subsequent method step s450 or a subsequent methodstep s47O is performed, said steps refer to a manual procedure and an automatic procedure,respectively. lf it is determined that said check position test (CPT) is not required the method ends.
The method step s450 comprises the step of, if it is determined that the check position testis required, indicating for an operator of the vehicle 100 that the check position test shouldbe performed. This may be performed by means of said first control unit and said indicationmeans 270. Hereby said operator reminded/enlightened/informed about the necessity of performing said check position test.After the method step s450 a subsequent method step s460 is performed.
The method step s460 comprises the step of manually initiating s460 said check position testupon receipt of said indication to said operator. This may be performed by said operator ofthe vehicle 100 by any suitable means. During performance of said check position test the operator should remain in said tractor unit 110.
The method step s460 may comprise the step of presenting a result of said check positiontest for said operator. This may be performed by means of said first control unit 200 and saidindication means 270. lf said result of said test is indicating that the vehicle is safe to parkthe method is ended. lf said result of said test is indicating that the vehicle is not safe to parkthe driver may take actions, such as deciding not to park or secure the vehicle 100 in any suitable manner, such as using blocks at a number of wheels of the vehicle 100. lt should be noted that an operator of the vehicle also can notice if the vehicle 100 is movingor not, and may thus determine the result of said check position test by means of own SEHSES.
After the method step s460 the method ends.
The method step s470 comprises the step of automatically initiating said check position testif it is determined that the check position test is required. This may be performed by meansof said first control unit 200. The method step s470 comprises the step of performing said check position test.After the method step s470 a subsequent method step s480 is performed.
The method step s480 comprises the step of determining a result of the check position test.This may be performed by means of said first control unit 200. lf it is decided that saidvehicle 100 is safely parked, i.e. Yes, the method is ended. lf it is determined that said vehicle 100 is not safely parked, i.e. No, a subsequent method step 490 is performed.
The method step s490 comprises the step of performing certain measures when it isrevealed that the vehicle 100 is moving during said check position test. Said measures maycomprise informing an operator of the vehicle about the result of the check position test.Said measures may comprise informing an external supervision institution about the resultof the check position test. Said measures may comprise operating a compressorarrangement for supplying compressed air to said pneumatically operated brakearrangement. Said measures may comprise keeping at least one ECU of the vehicle 100operable for managing said pneumatically operated brake arrangement. This may be performed by means of said first control unit 200 and any suitable means.
After the method step s490 the method is ended.
Figure 5 is a diagram of one version of a device 500. The control units 200 and 210 describedwith reference to Figure 2 may in one version comprise the device 500. The device 500comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory550. The non-volatile memory 520 has a first memory element 530 in which a computerprogram, e.g. an operating system, is stored for controlling the function of the device 500.The device 500 further comprises a bus controller, a serial communication port, I/O means,an A/D converter, a time and date input and transfer unit, an event counter and aninterruption controller (not depicted). The non-volatile memory 520 has also a second memory element 540. 16 There is provided a computer program P comprising routines for: - determining at least one parameter affecting possibilities for the vehicle to stand still; - determining if a check position test is required on the basis of the thus determined at least one parameter;- bringing the vehicle to a parking state; and - if it is determined that the check position test is required, indicating for an operator of thevehicle that the check position test should be performed and/or performing said check position test automatically.
The computer program P comprises routines for bringing the vehicle to a stand still state.
This is advantageous in case the vehicle is an autonomous vehicle.
The computer program P may comprise routines for initiating said check position test on thebasis of a manually activated signal. Said signal may be activated by an operator as a response to said indication.
The computer program P may comprise routines for determining at least one of theparameters slope of the ground upon which the vehicle is standing, mass of said vehicle, an wheel axle configuration of said vehicle and frictional properties of said ground.
The computer program P may comprise routines for activating said parking brakearrangement and said pneumatically operated brake arrangement for bringing the vehicle to a parking state.
The computer program P may comprise routines for determining if said vehicle is moving during said check position test.
The computer program P may comprise routines for performing certain measures when it is revealed that the vehicle is moving during said check position test.
The computer program P may comprise routines for informing an operator of the vehicleabout a result of said check position test. The computer program P may comprise routines for informing an external supervision institution about a result of said check position test. 17 The computer program P may comprise routines for operating a Compressor arrangementfor supplying compressed air to said pneumatically operated brake arrangement. Thecomputer program P may comprise routines for keeping at least one ECU of the vehicle operable for managing said pneumatically operated brake arrangement.
The program P may be stored in an executable form or in compressed form in a memory 560 and/or in a read/write memory 550.
Where it is stated that the data processing unit 510 performs a certain function, it meansthat it conducts a certain part of the program which is stored in the memory 560 or a certain part of the program which is stored in the read/write memory 550.
The data processing device 510 can communicate with a data port 599 via a data bus 515.The non-volatile memory 520 is intended for communication with the data processing unit510 via a data bus 512. The separate memory 560 is intended to communicate with the dataprocessing unit via a data bus 511. The read/write memory 550 is arranged to communicatewith the data processing unit 510 via a data bus 514. The links L210, L220, L230, L240, L250a,L250b, L260, L270 and L280, for example, may be connected to the data port 599 (see Figure2).
When data are received on the data port 599, they are stored temporaríly in the secondmemory element 540. When input data received have been temporaríly stored, the data processing unit 510 will be prepared to conduct code execution as described above.
Parts of the methods herein described may be conducted by the device 500 by means of thedata processing unit 510 which runs the program stored in the memory 560 or theread/write memory 550. When the device 500 runs the program, methods herein described are executed.
The foregoing description of the preferred em bodiments of the present invention isprovided for illustrative and descriptive purposes. lt is not intended to be exhaustive, nor tolimit the invention to the variants described. Many modifications and variations will obviously suggest themselves to one skilled in the art. The embodiments have been chosen 18 and described in order to best explain the principles of the invention and their practicalapplications and thereby make it possible for one skilled in the art to understand theinvention for different embodíments and with the various modifications appropriate to the intended use.

Claims (12)

19 Claims
1. A method for secure parking of a vehicle (100) comprising a tractor unit (110) and a trailerunit (112), said tractor unit (110) comprising a parking brake arrangement (250a, 250b) andsaid trailer unit (112) comprising a pneumatícally operated brake arrangement (260), comprising the steps of: - bringing (s410) the vehicle (100) to a stand still state; - determining (s420) at least one parameter affecting possibilities for the vehicle (100) to stand still; - determining (s430) if a check position test is required on the basis of the thus determinedat least one parameter, wherein the check position test comprises temporarily deactivating the trailer brakes;- bringing (s440) the vehicle (100) to a parking state; - if it is determined that the check position test is required, indicating (s450) for an operatorof the vehicle (100) that the check position test should be performed and/or performing(s470) said check position test automatically, wherein the step of bringing (s440) the vehicle(100) to a parking state comprises the step of activating said parking brake arrangement (250a, 250b) and said pneumatically operated brake arrangement (260).
2. The method according to claim 1, comprising the step of: - manually initiating (s460) said check position test upon receipt of said indication to said OpefâtOf.
3. The method according to claim 1 or 2, wherein said step of determining (s420) said at least one parameter comprises determining at least one of the parameters slope (ot) of the ground upon which the vehicle (100) is standing, mass (M) of said vehicle, an wheel axle configuration of said vehicle (100) and frictional properties of said ground.
4. The method according to anyone of the claims 1-3, comprising the step of: - performing (s490) measures when it is revealed that the vehicle (100) is moving duringsaid check position test, wherein said measures comprises at least one of the measuresinforming an operator of the vehicle (100), informing an external supervision institution(280), operating a compressor arrangement for supplying compressed air to saidpneumatically operated brake arrangement (260) and keeping at least one ECU (200; 210;500) of the vehicle (100) operable for managing said pneumatically operated brake arrangement (260).
5. A system for secure parking of a vehicle (100) comprising a tractor unit (110) and a trailerunit (112), said tractor unit (110) comprising a parking brake arrangement (250a, 250b) andsaid trailer unit (112) comprising a pneumatically operated brake arrangement (260), comprising: - means (200; 210; 500) for bringing the vehicle (100) to a stand still state; - means (200; 210; 500) for determining at least one parameter affecting possibilities for the vehicle (100) to stand still; - means (200; 210; 500) for determining if a check position test is required on the basis ofthe thus determined at least one parameter, wherein the check position test comprises temporarily deactivating the trailer brakes;- means (200; 210; 500) for bringing the vehicle (100) to a parking state; - means (200; 210; 500; 270) for, if it is determined that the check position test is required,indicating for an operator of the vehicle (100) that the check position test should beperformed and/or means (200; 210; 500) for performing said check position test automatically; 21 - means (200; 210; 500) for activating said parking brake arrangement (250a, 250b) and saidpneumatically operated brake arrangement (260) for bringing the vehicle (100) to a parking Sta te .
6. The system according to claim 5, comprising: - means for manually initiating said check position test upon receipt of said indication to said OpefâtOf.
7. The system according to claim 5 or 6, wherein said at least one parameter comprises atleast one of the parameters slope (oz) of the ground upon which the vehicle (100) is standing,mass (M) of said vehicle (100), an wheel axle configuration of said vehicle (100) and frictional properties of said ground.
8. The system according to anyone of the claims 5-7, comprising: - means (200; 210; 500) for performing measures when it is revealed that the vehicle (100)is moving during said check position test, wherein said measures comprises at least one ofthe measures informing an operator of the vehicle (100), informing an external supervisioninstitution (280), operating a compressor arrangement for supplying compressed air to saidpneumatically operated brake arrangement (260) and keeping at least one ECU (200; 210;500) of the vehicle (100) opera ble for managing said pneumatically operated brake arrangement (260).
9. A vehicle (100) comprising a system according to any one of claims 5-8.
10. The vehicle (100) according to claim 9, which vehicle is a truck or a bus. 22
11. A computer program (P), wherein said computer program (P) comprises program code for causing an electronic control unit (200; 500) or a computer (2l0; 500) connected to the electronic control unit (200; 500) to perform the steps according to anyone of the claims 1-4.
12. A computer program product containing a program code stored on a computer-readablemedium for performing method steps according to anyone of claims 1-4, when saidcomputer program is run on an electronic control unit (200; 500) or a computer (210; 500) connected to the electronic control unit (200; 500).
SE1550775A 2015-06-10 2015-06-10 A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit SE539186C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1550775A SE539186C2 (en) 2015-06-10 2015-06-10 A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit
DE102016006527.3A DE102016006527B4 (en) 2015-06-10 2016-05-27 Method and system for safely parking a vehicle with a tractor unit and a trailer unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1550775A SE539186C2 (en) 2015-06-10 2015-06-10 A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit

Publications (2)

Publication Number Publication Date
SE1550775A1 SE1550775A1 (en) 2016-12-11
SE539186C2 true SE539186C2 (en) 2017-05-09

Family

ID=57395142

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1550775A SE539186C2 (en) 2015-06-10 2015-06-10 A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit

Country Status (2)

Country Link
DE (1) DE102016006527B4 (en)
SE (1) SE539186C2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017006006A1 (en) 2017-06-26 2018-12-27 Wabco Gmbh Method for operating an electropneumatic parking brake system of a vehicle train
DE102018121311A1 (en) 2018-08-31 2020-03-05 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method, control device and control system for controlling a parking brake system for a vehicle combination with a towing vehicle and a trailer

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1213352A1 (en) 2000-12-07 2002-06-12 Aventis Pharma S.A. Nucleic acids of the human abca5, abca6, abca9, and abca10 genes, vectors containing such nucleic acids and uses thereof
DE10061064B4 (en) 2000-12-08 2004-02-26 Conti Temic Microelectronic Gmbh Method for operating a motor-driven motor vehicle
DE10353056B4 (en) 2003-11-13 2006-04-20 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Operating device of an electric parking brake of a vehicle
DE102007042316B4 (en) 2006-11-16 2010-01-07 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Electronic braking system for a utility vehicle and method for controlling an electronic braking system
EP2163447B1 (en) 2007-03-23 2011-11-09 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Braking device for a vehicle activated by compressing a medium with handbrake device that produces opposing pressures for trailer brakes
DE102007033694B3 (en) 2007-07-19 2008-12-04 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Parking brake for a trailer
DE102008027732B3 (en) 2008-06-11 2010-01-07 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Park brake valve assembly
DE102008002584A1 (en) 2008-06-23 2009-12-24 Robert Bosch Gmbh Method for adjusting a brake system in a vehicle trailer
EP2719594B1 (en) 2012-10-15 2021-03-31 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Method for operating an electrically operable parking brake system and control device for an electrically operable parking brake system

Also Published As

Publication number Publication date
DE102016006527A1 (en) 2016-12-15
SE1550775A1 (en) 2016-12-11
DE102016006527B4 (en) 2024-04-25

Similar Documents

Publication Publication Date Title
US9802624B2 (en) Vehicle adapted for autonomous driving and a method for detecting obstructing objects
US8280607B2 (en) Safely overriding unintended acceleration protection in vehicles towing trailers
US6176555B1 (en) Method and device for controlling handling dynamics of motor vehicles
US8700282B2 (en) Method and apparatus for vehicle sway detection and reduction
US9387844B2 (en) Environment-based anti-lock braking system
CN105300352A (en) Estimating a trailer road grade
US20170088165A1 (en) Driver monitoring
US11298993B2 (en) Detection of trailer detachment from a vehicle
KR20170053799A (en) Apparatus and method for providing the safety of autonomous driving vehicle
US20140316666A1 (en) Method of, and Apparatus for, Controlling the Speed of a Vehicle
US9840236B2 (en) Method of, and apparatus for, operating a vehicle
SE1450938A1 (en) Procedure and systems for safety improvement when driving a motor vehicle
KR101712581B1 (en) Method and system for control of auxiliary brakes
SE539186C2 (en) A method and a system for secure parking of a vehicle comprising a tractor unit and a trailer unit
EP1595774B1 (en) A safety system for a semi-trailer
US20210347343A1 (en) Method and device for carrying out an autonomous brake application in a two-wheel motor vehicle
US10259320B1 (en) Systems and methods for parking pawl disengagement
US9187089B2 (en) Method for operating a driver assistance system and driver assistance system
US20230182698A1 (en) Apparatus and Method for Determining a Road Friction
EP3922528A1 (en) Safety system for a vehicle combination
WO2016024907A1 (en) System and method for preventing undesired movements of a motor vehicle combination
KR20180113637A (en) Method and system for the adaptation of the driving of a vehicle on a roadway in association with taking a curve
US20190375452A1 (en) Systems and methods for brake pull mitigation
US10457326B2 (en) Vehicle trailer control system with speed control
SE518048C2 (en) Procedure and system for brakes in commercial vehicles