A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

A trailer brake system including: a spring brake, configured to apply a braking force to an associated wheel when a pressure in its brake chamber is below a threshold, and a service brake, configured to apply a demanded braking force dependent on a pressure present in its brake chamber, a master unit and an auxiliary unit, and a first fluid tank and a second fluid tank, wherein the first fluid tank is filled by a supply line and connects to an inlet of the master unit and the second fluid tank is filled by the supply line and connects to an inlet of the auxiliary unit.

A brake system for a transportation vehicle and a transportation vehicle having such a brake system. The brake system includes two brake circuits which each have a control unit and a battery, wherein the respective control unit actuates two of a total of four service brakes and at least one of at least two electric parking brakes. The brake system also has an electronic circuit element. The brake system forms a defect signal in response to a double fault affecting the two brake circuits and when a defect in at least one of the control units is detected, and/or in which a respective supply voltage of at least one of the control units drops below a predefined limiting value. The at least one electronic circuit element actuates the electric parking brakes when a defect signal is formed.

Method for detecting a failure in a pneumatic system of a vehicle, the pneumatic system comprising a supply pneumatic subsystem comprising supply lines, a control pneumatic subsystem comprising control lines, a delivery pneumatic subsystem comprising delivery lines, the vehicle comprising an electronic control unit configured to implement a trained supply recurrent neural network, a trained control recurrent neural network, a trained delivery recurrent neural network, and a trained main recurrent neural network; the method comprising collect and provide the input parameters to the trained recurrent neural networks to get a output from recurrent neural networks; provide the input parameters and the output parameters from recurrent neural networks to get a main output indicative of a pneumatic system health parameter indicative of a presence or an absence of a failure in one of the supply pneumatic subsystem, or the control pneumatic subsystem, or the delivery pneumatic subsystem of the pneumatic system.

A redundancy valve assembly is for redundantly supplying a redundant brake pressure into a service brake pressure path of an electronically controllable pneumatic brake system for a vehicle, preferably a utility vehicle, including a service brake pressure connection for receiving a service brake pressure from a service brake pressure modulator, a redundancy brake pressure connection for receiving a redundancy brake pressure from a redundancy brake pressure modulator, and a brake actuator connection for connecting at least one brake actuator. The redundancy valve assembly is electrically actuatable in order to optionally modulate the service brake pressure or the redundancy brake pressure at the brake actuator connection. An electronically controllable pneumatic brake system includes a redundancy control unit. A vehicle includes the electronically controllable pneumatic brake system. A method is for controlling an electronically controllable pneumatic brake system.

An abnormality detection device includes a control target hydraulic pressure calculating portion that calculates a control target hydraulic pressure according to an operation state of a brake pedal, the hydraulic pressure obtaining portion that obtains the hydraulic pressure of the operating fluid controlled to become the control target hydraulic pressure calculated by the control target hydraulic pressure calculating portion from the pressure sensor; a second determination threshold value changing portion that changes a threshold value to be closer to the control target hydraulic pressure calculated by the control target hydraulic pressure calculating portion in a stepwise manner when a state determining portion determines that the control target hydraulic pressure is in a maintaining state, and the abnormality determining portion that determines the hydraulic pressure braking force generating device is abnormal when the hydraulic pressure obtained by the hydraulic pressure obtaining portion deviates from the permissible divergence range.

The present disclosure generally relates to autonomous commercial vehicles. In one aspect, the disclosure provides a method for controlling a commercial highway vehicle. The method includes detecting a failure of a first component based on a first signal from a first sensor. The method also includes classifying, by an automated driving system on the vehicle, a severity of the component failure. The method further includes determining to stop the vehicle if the severity exceeds a threshold severity level. The method also includes determining an emergency stopping distance based on the severity and a current momentum of the vehicle. The method further includes determining a stopping location within the emergency stopping distance. The method also includes stopping the vehicle at the stopping location. The present disclosure also provides an autonomous commercial vehicle and an emergency control system for performing the method.

The apparatus comprises a sensor for generating a vehicle load signal, weighting devices designed to supply a weighted pneumatic pressure as a function of the load signal, and first and second braking control apparatus, both coupled to the weighting devices and comprising respective relay valves which supply at their outlets respective braking pressures, modulated as a function of said weighted pneumatic pressure, to respective braking actuators associated with the wheels of a respective axle or of a respective bogie of the vehicle. The weighting devices comprise an electro-pneumatic drive assembly which is interposed between pneumatic pressure supply means and the drive inlet of the relay valves and an electronic weighting control unit which controls the drive assembly as a function of the load signal, so as to modulate in a predetermined way the pressure at the drive inlet of the relay valves.

The pneumatic braking system comprises a pneumatic circuit for supplying a pneumatic braking pressure to at least one brake cylinder, and includes a pneumatic solenoid charging valve and a pneumatic solenoid discharge valve adapted to cause an increase and a reduction, respectively, of the pneumatic pressure acting upon the at least one brake cylinder, the solenoid valves being controlled by an electronic braking control unit; a solenoid brake release valve adapted to cause, when energized, a complete discharge of the pneumatic pressure applied to the at least one brake cylinder, independently of the conditions of the solenoid charging and discharge valves; and an electric emergency line on which in normal operation there is a voltage which drops when emergency braking is activated.

An EPB (Electronic Parking Brake) apparatus may include: a housing unit; a motor unit mounted in the housing unit; a worm wheel gear unit engaged and rotated with the motor unit; a piston unit connected with a brake shoe; and a nut unit mounted on the worm wheel gear unit, coupled to the piston unit, and moved by the rotation of the worm wheel gear unit so as to pressurize the piston unit. The housing unit is deformed by the movement of the piston unit and restricts the operation of the motor unit.