MULTIPLE-STAGE COLLISION AVOIDANCE BRAKING SYSTEM AND METHOD

Abstract

An apparatus and method for automatic actuation and control of an air braking system on a commercial vehicle, under a warning of collision conditions, has multiple stages of operation, which supplements the normal brake pedal activation and control of the air brake operation under the driver's foot control. Automatic actuation has two stages: (1) impending collision automatic activation and control for 1.4 second closure; and (2) imminent collision automatic activation and control for 0.9 seconds closure. A determination of closure occurring in excess of 1.6 seconds, turns off the warning, and also deactivates the automatic activation and control. A modification to a standard air brake system structure enables the addition of the automatic activation and control stages. When an impending collision signal is received, an activation component operates valves to pressurize the rear brakes to 40 psi. When the air pressure at the rear brakes rises to 20 psi, other valves pressurize the front brakes. This first stage automatic operation stops or slows the vehicle with 40 psi on the rear brakes and 20 psi on the front brakes. When an imminent collision signal is received, the activation component opens valves to pressurize the rear brakes to 120 psi. Once the air pressure at the rear brakes rises to 20 psi, the front brakes are also pressurized. This second stage automatic operation stops the vehicle with 120 psi on the rear brakes and 80 psi on the front brakes, unless restricted to a lower pressure by the brake system manufacturer. The driver can deactivate the automatic braking functions by stepping on the brake pedal or by operating the vehicle turn signals.

Claims

1. A method of automatic braking, collision avoidance for vehicle air brake systems, including the steps of: detecting an impending collision condition; pressurizing the rear brakes with a source pressure of about 40 psi when said impending collision condition is detected; pressurizing the front brakes when the pressure at the rear brakes has risen to about 20 psi; and maintaining an air pressure of 40 psi at the rear brakes and 20 psi at the front brakes to slow or stop the vehicle.

2. The method of collision avoidance of claim 1, including the steps of: detecting an imminent collision condition; pressurizing the rear brakes with a source pressure of about 120 psi when said imminent collision condition is detected; begin pressurizing the front brakes when the pressure at the rear brakes has risen to about 20 psi; and maintaining an air pressure of about 120 psi at the rear brakes and about 80 psi at the front brakes to slow or stop the vehicle.

3. The method of collision avoidance of claim 1, including the steps of: detecting an imminent collision condition; pressurizing the rear brakes to a pressure of about 80 psi when said imminent collision condition is detected; begin pressurizing the front brakes when the pressure at the rear brakes has risen to about 20 psi; and maintaining an air pressure of about 80 psi at the rear brakes and about 60 psi at the front brakes to slow or stop the vehicle.

4. The method of collision avoidance of claim 1, including releasing said brake pressure and returning brake operation entirely to the driver when a non-collision condition is detected.

5. The method of collision avoidance of claim 1, wherein said impending collision is determined to occur in about 1.4 seconds.

6. The method of collision avoidance of claim 2, wherein said imminent collision is determined to occur in about 0.9 seconds.

7. The method of collision avoidance of claim 4, wherein said non-collision condition is determined by a closure of greater than 1.6 seconds.

8. The method of collision avoidance of claim 1, including maintaining a front air pressure reservoir at 120 psi, and a rear air pressure reservoir at 120 psi, and pressurizing said rear brakes from said rear reservoir, and pressurizing said front brakes from said front reservoir.

9. The method of collision avoidance of claim 2, including maintaining a front air pressure reservoir at 120 psi, and a rear air pressure reservoir at 120 psi, wherein said pressurizing of said rear brakes is from said rear reservoir, and said pressurizing of said front brakes is from said front reservoir.

10. The method of collision avoidance of claim 8, wherein the step of pressurizing the rear brakes includes opening at least one valve between said rear air pressure reservoir and said rear service brakes with an air control pressure of 120 psi, and opening at least one valve between said front air pressure reservoir and said front service brakes with an air control pressure of 120 psi.

11. The method of collision avoidance of claim 8, wherein the step of pressurizing the rear brakes includes opening at least one valve between said rear air pressure reservoir and said rear service brakes with an air control pressure of 120 psi, and opening at least one valve between said front air pressure reservoir and said front service brakes with an air control pressure of 120 psi.

12. An automatic braking collision avoidance system, for a commercial vehicle air brake system, having a front brake circuit and a rear brake circuit, comprising: a collision warning device providing a signal representing closure time with a foregoing vehicle or object, including an impending collision warning signal and an imminent collision warning signal; a rear air pressure reservoir, and a front air pressure reservoir, where the pressure in said rear and front reservoirs is each maintained at the same pressure; an actuation apparatus element being electrically connected to said collision warning device for reacting to an impending collision warning signal and to an imminent collision warning signal; at least one connection element in a pneumatic pressure line between said rear air pressure reservoir and said rear service brake circuit, wherein said connection element operates as a valve; at least one connection element in a pneumatic pressure line between said front air pressure reservoir and said front service brake circuit, wherein said connection element operates as a valve; wherein when an impending collision warning signal is detected, said actuation apparatus first controls said rear air service brake pressure to pressurize said rear brake circuit such that when said rear brake pressure reaches a first threshold, said actuation apparatus controls said front air service brake pressure to pressurize said front brakes; wherein when the pressure at said rear brakes and the pressure at said front brakes each reach its predetermined target pressure, further pressure increases are ceased and the target pressures are maintained.

13. The automatic braking collision avoidance system of claim 12, wherein when an imminent collision warning signal is detected, said actuation apparatus first controls said rear air service brake pressure to pressurize said rear brake circuit at a target pressure of said rear air reservoir pressure, wherein when said rear brake pressure reaches a first threshold, said actuation apparatus controls said front air service brake pressure to pressurize said front brakes to a target pressure of less than said rear brake target pressure, wherein when said rear brake pressure and said front brake pressure each reach the predetermined ultimate target pressures, further air pressure increases are ceased, and the ultimate target pressures are maintained.

14. The automatic braking collision avoidance system of claim 12, wherein the first threshold pressure at said rear brakes is about 20 psi, and wherein the predetermined target pressure at which said air pressure increases are ceased is at about 40 psi for said rear brakes, and at about 20 psi for said front brakes.

15. The automatic braking collision avoidance system of claim 13, wherein said rear air pressure reservoir and said front air pressure reservoir are each at about 120 psi, and wherein the rear brake pressure threshold for activating said front brake pressure is about 20 psi, and wherein the predetermined ultimate target pressure at said rear brake circuit is 120 psi and at said front brake circuit is about 80 psi.

16. The automatic braking collision avoidance system of claim 12 wherein said valve action between said rear air pressure reservoir and said rear service brake circuit is controlled with a high pressure pneumatic signal from said actuation apparatus, which pneumatic control signal passes through a delayed operation gate pneumatically connected to a rear brake control valve, the operation of said delayed operation gate being controlled by a separate pneumatic control signal form said actuation apparatus.

17. The automatic braking collision avoidance system of claim 12 wherein said actuation apparatus element is an electronic solenoid operated two stage valve.

18. The automatic braking collision avoidance system of claim 13, wherein said actuation apparatus element is an electronic solenoid operated two stage valve.

19. The automatic braking collision avoidance system of claim 18, also including a quick release crack valve connected to the front brakes, a front brake control valve pneumatically powering said crack valve.

20. A method of automatic braking, collision avoidance for vehicle air brake systems, including the steps of: receiving a collision indication signal; pressurizing the rear brakes with a first higher pressure when said collision indication signal is detected; pressurizing the front brakes when the pressure at the rear brakes has risen to a first threshold value which is less than said first higher pressure, said pressurizing maintaining a pressure differential between a higher rear brake pressure and a lower front brake pressure; and maintaining an higher air pressure of at the rear brakes and a lower air pressure at the front brakes at said pressure differential, to slow or stop the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The invention can be understood from a reading of the following description and the attached claims, in connection with the accompanying drawings, in which like numerals refer to like elements and in which:

[0037] FIG. 1 is a block diagram for the invention system;

[0038] FIG. 2 shows the braking distance curve for an air brake system operating normally, with manual brake actuation from brake pedal operation;

[0039] FIG. 3 shows the braking distance curve with automatic brake actuation of the present invention; and

[0040] FIG. 4 shows the braking distance curve of the invention when coupled with an optional electromagnetic retarder on the drive shaft or on a rear axle.

DETAILED DESCRIPTION OF THE INVENTION

[0041] The present invention is a pneumatically operated and pneumatically controlled automatic braking control system and method for controlling air brakes on a commercial highway vehicle. The system operates in multiple stages. There is normal manual operation of the air brakes by the driver's brake pedal under normal conditions. When a possible collision is detected, the system automatically operates the vehicle's air braking system, by first applying air pressure to the rear brakes. When the pressure at the rear brakes has reached 20 psi, air pressure is applied to the front brakes. The air pressure applied on the rear brakes is ultimately 40 psi, and on the front brakes is ultimately 20 psi.

[0042] In a next stage, air pressure is also first applied to the rear brakes. When the rear brake pressure reaches 20 psi, air pressure is fed to the front brakes. In this stage, the air pressure on the rear brakes is ultimately 120 psi and on the front brakes is 80 psi. These pressures are reduced when required by the manufacturer's specifications.

[0043] The initial stage is activated when the vehicle is calculated to be approximately 1.4 seconds from impact. The next stage is activated when the vehicle is calculated to be approximately 0.9 seconds from impact.

[0044] FIG. 1 shows a block diagram of the structure of the invention. In a driver operated mode, a driver operated brake pedal 21 operates a rear brakes control valve 23 and a front brakes control valve 25, concurrently. The rear brake control valve 23 receives air pressure from a rear air reservoir 45 via a pneumatic line 44. The front brake control valve 25 receives air pressure from a front air reservoir 29 via a pneumatic line 31.

[0045] The output from the rear brake control valve 23 is connected to a rear service brake relay valve 51 via pneumatic line 52. Rear relay valve 51 then passes air pressure onto a left and a right rear ABS module 55, 57 via pneumatic line 53. The left and right rear ABS modules 55, 57 respectively feed left and right tandem brake actuators 59, 61.

[0046] The rear relay valve 51 via an additional pneumatic line 70 passes air pressure through a tractor protection valve 75 to a trailer service brake line 77, if a trailer is present.

[0047] The output from the front brake control valve 25 is connected to a front T connector gate 36 though a pneumatic line 81. Front connector gate 36 passes air pressure to a left and a right ABS module 37, 39 via a pneumatic line 40. Left and right ABS modules 37, 39 feed air pressure to left and right front brake actuators 41, 43, respectively.

[0048] A commercial warning device 11 is employed to detect collision conditions and to send signals indicating one or the other of two collision conditions, impending or imminent. The output from the warning device 11 is three electrical wires 15, a high signal, a low signal and a ground. The low signal indicates an impending collision. The high signal indicates an imminent collision. No signal indicates a non-collision situation. Electrical connection cabling 15 powers (i.e., drives) an actuation apparatus 13, which actuator is an electronic, two stage, solenoid operated, air valve. The actuation apparatus 11 has two outputs. The first output is connected to a pneumatic line 19, while the second output is connected to a pneumatic line 79.

[0049] An impending collision (i.e., closure) indicates a collision in 1.4 seconds. An imminent collision indicates a collision (i.e., closure) indicates a collision in 0.90 seconds. A closure equal to or greater than 1.6 seconds is a non-collision condition.

[0050] The air pressure in the front air reservoir 29 is about 120 psi. The air pressure in the rear air reservoir is also kept at about 120 psi. Pneumatic line 49 feeds the 120 psi pressure to the actuation apparatus 11, which in turn feeds a one-way connector gate 71, via the pneumatic line 19. A pneumatic line 85 exits the one-way gate 71 and connects to a pressure regulator, step down gate 69. Regulator gate 69 can be adjustable. Regardless, it reduces the 120 psi from the actuation apparatus 11 to a pressure of 40 psi. The output of regulator gate 69 is connected to a connection T gate 83. An output line 84 from gate 83 is connected into a crack valve 36. The output of the crack valve 35 is connected into the front T connector gate 36 to ultimately lead to the front brake actuators 37, 39. The crack valve 35 operation may be adjustable. The crack valve 35 of the present invention is set to quickly release (open) at 20 psi.

[0051] Another pneumatic line from the T connection gate 83 is connected into a T connection gate 73. A pneumatic line from gate 73 connects to a connector T gate 65 via a pneumatic line 72. The gate 73 is also connected to an output from the rear brake control valve 23. The second output from the actuation device 11 via a pneumatic line 79 connects with the connector gate 79 which is connected to the input 67 of the rear relay valve 51 via a pneumatic line 63.

[0052] Air pressure is output from the actuation apparatus 11 via line 19 in an impending collision condition, i.e., where there is about 1.4 seconds of closure time until impact. In this situation there is no air pressure on line 79 from the other output actuator 11.

[0053] Air pressure is output from the actuation apparatus 11 via line 79 in an imminent collision condition, i.e., where there is about 0.9 seconds of closure time until impact. In this situation there is no air pressure on line 19 from the other output from actuator 11.

[0054] As an option, an electro-magnetic retarder device may be added, to be mounted to a rear axle or to the drive shaft to contribute additional braking action. Such retarders are frictionless stopping aids which are used to slow vehicles to prevent the service brakes from overheating and to minimize stopping distance. Retarders are commercially available from such manufacturers as Frenelsa S.A., Telma, S.A., Cama Products, Kimbo/Sharp Corporation and others.

[0055] When 1.4 seconds to impact is detected, the invention sends air pressure from rear reservoir 45 through the actuator 11, FIG. 1. Then via line 19 though gate 71, via line 85, through gate 69, through regulator 69, though gate 83, and via line 84 to wait for crack valve 35.

[0056] Air pressure also flows though gate 83, through gate 73, via line 72 to gate 65, and there through. The air pressure travels via line 63 to input 67 and through relay gate 51 to the rear brakes. The other output from actuator 11 is closed.

[0057] When the pressure at the rear brakes relay valve 51 rises to 20 psi, there is also 20 psi at the crack valve 35. Crack valve 35 then opens and air pressure begins to build on the front brakes as it continues to increase on the rear brakes. The rear brake pressure is higher than the front brake pressure and remains so. The pressure is held with 40 psi on the rear brakes and 20 psi on the front brakes to stop the vehicle. When a trailer is present, trailer brake pressure will approximate the rear brake pressure at 40 psi.

[0058] When 0.9 seconds to impact is detected, the invention send air pressure from rear reservoir 45 through the actuator 11, and then via line 79 to the gate 65. The other output port from actuator 11 is closed.

[0059] The pressure at gate 65 is sent via line 63 to the rear relay valve 51 and via line 72 to gate 73. From gate 73 the pressure passes through the gate 83 and then via line 84 to the crack valve. When the pressure at the crack valve rises to 20 psi the crack valve opens and pressure begins to build on the front brakes, while continuing to rise on the rear brakes. The rear brake pressure is higher that the front brake pressure and remains so. A pressure of 120 psi is held on the rear brakes and 80-100 psi on the front brakes to stop or slow the vehicle. Again, when a trailer is present, the trail brake pressure will follow the rear brake pressure at 120 psi.

[0060] The operation of the invention, including following distance, response time and vehicle speed, is shown in FIG. 3, and can be compared with the same factors for the operation of a manual braking system, FIG. 2, and the same factors for the operation of the invention coupled with a commercial electro-magnetic retarder mounted to the vehicle drive shaft, or rear axle. These graphs were generated from test results obtained by operating the same test vehicle, which was first-operated with manual braking, then, secondly, with the collision avoidance braking invention in place, and lastly, with a drive shaft mounted retarder or rear axle mounted retarder added to the invention.

[0061] In each of these graphs (FIGS. 2, 3, 4) the solid line 87 shows vehicle following distance. Each of the graphs show a closure, i.e., a reduction in following distance of the test vehicle with respect to a preceding vehicle. For the manual system, FIG. 2, the response time, once a collision warning is generated, is shown as time of driver collision recognition 91, driver response 93, and brake response 95. For the present invention, FIG. 3, the response time once a warning is generated, is indicated by brake response 95 followed by brake deceleration 97. It is important to note that brake deceleration 97 is shown to occur much sooner in FIGS. 4 and 5, than in FIG. 3.

[0062] The next important factor to note is the time of closest vehicle approach 99. This is the demarcation point, where the test vehicle braking action results in an increase in the distance to the foregoing vehicle, thereby avoiding a collision. This factor relates to the speed curve 101 of the braking vehicle which shows a reduction in speed 101, FIGS. 2, 3, 4, during braking. This speed reduction is seen to occur soonest in FIG. 4. The time to speed reduction is seen to be slightly less in FIG. 3. FIG. 2 shows the largest delay before a speed reduction occurs.

[0063] Once braking has occurred, the driver must make an evaluation 103. The driver controls the acceleration 105 of the vehicle 105 if conditions warrant. Once a safe distance is achieved 107, driver acceleration is ended 109.

[0064] With manual braking, FIG. 2, the warning duration 111 extends from the start of the warning signal 89 to the time a safe distance is achieved 107. With the invention, FIG. 3, the warning duration 111, is less, as it extends from the start of the warning signal 89 to the achievement of a safe distance 107 at the beginning of driver evaluation 103.

[0065] With the addition of an electro-magnetic retarder, FIG. 4, warning duration 111 is further shortened and additional braking improvement 113 occurs. This improvement 113 is shown as the time from the achieved safe distance 107 time, to the time almost to the termination of driver controlled acceleration 109.

[0066] The following elements are shown in the accompanying drawings. [0067] 11 collision warning device [0068] 13 actuation apparatuselectronic, two stage, solenoid operated, air valve [0069] 15 electrical connection cablingHLG (high low ground) cable wire [0070] 19 pneumatic line from actuation apparatus 11 to gate 71 [0071] 21 driver brake pedal [0072] 23 rear brakes control valve [0073] 25 front brakes control valve [0074] 29 front air reservoir [0075] 31 pneumatic line from front air reservoir 29 to front brakes control valve 25 [0076] 35 quick release crack valve [0077] 36 front T connector gate [0078] 37 left front ABS [0079] 39 right front ABS [0080] 40 pneumatic line from connector gate 36 to ABS 37 and 39 [0081] 41 left front actuator [0082] 43 right front actuator [0083] 44 pneumatic line from rear air reservoir to rear control valve 23 [0084] 45 rear air reservoir [0085] 47 air supply connector [0086] 50 pneumatic line from rear brake control valve 25 to relay valve 51 [0087] 51 service brake relay valve [0088] 53 pneumatic output to rear ABS 55 and 57 [0089] 55 left rear ABS [0090] 57 right rear ABS [0091] 59 left rear brake actuator [0092] 61 right rear brake actuator [0093] 63 pneumatic feed from gate 65 to rear relay valve input 67 [0094] 65 connector T gate [0095] 67 input for rear relay valve 51 [0096] 69 pressure regulator step down gate 120 psi to 40 psi [0097] 70 pneumatic line from rear relay valve to tractor protection valve 75 [0098] 71 one-way connector gate [0099] 72 pneumatic line from gate 73 to gate 65 [0100] 73 pneumatic T connection gate between gate 83 and rear control valve 23 [0101] 75 tractor protection valve [0102] 77 trailer service brake line [0103] 79 pneumatic line from activation apparatus 11 to connector gate 65 [0104] 81 pneumatic line from front brake control valve 25 to front T connector gate 36, which [0105] connector gate also is connected to the output from crack valve 35 [0106] 83 pneumatic connection T gate from pressure reducer 69 [0107] 84 pneumatic line from gate 83 to crack valve 35 [0108] 85 pneumatic line from one-way gate 71 to pressure reducer 69 [0109] 87 solid line following distance [0110] 89 collision warning [0111] 91 driver recognition [0112] 93 driver response [0113] 95 brake response [0114] 97 brake deceleration [0115] 99 time of closest approach [0116] 101 speed curve [0117] 103 driver evaluation [0118] 105 driver acceleration [0119] 107 safe distance achieved [0120] 109 acceleration ended [0121] 111 warning duration [0122] 113 improvement in braking

[0123] The foregoing description is intended to be illustrative of the invention. Modifications and substitutions may be introduced without departing from the scope or intent of the described invention or the accompanying claims.