US-12623645-B2 - Methods and systems for implementing a redundant brake system

Abstract

Example embodiments relate to triple redundant brake systems for trucks and other types of vehicles. Disclosed systems offer additional redundancy for braking applications by incorporating a third service brake actuator (e.g., a third ECU), which may be installed parallel to the second controller (e.g., a second ECU). In some examples, the third service brake actuator is an electronically activatable pressure valve and can be implemented using pneumatic select-high valves. These valves can be used to perform a mechanical max arbitration between pressure provided by the second controller and the third controller.

Inventors

• Timothy Alexander Buchert
• David James Smith
• Juan Manual Gomez-Ramos

Assignees

• WAYMO LLC

Dates

Publication Date

20260512

Application Date

20231214

Claims (19)

1. 1 . A method comprising: providing, by a computing system coupled to a vehicle, a first signal to a first electronic control unit (ECU), wherein the first ECU is communicably coupled to a pressure-controlled electronic braking assembly; determining a speed of the vehicle remains unchanged for a threshold duration after providing the first signal to the first ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, providing, by the computing system, a second signal to at least a second ECU from a set of additional ECUs, wherein the set of additional ECUs includes at least the second ECU and a third ECU communicably coupled in parallel to the pressure-controlled electronic braking assembly, and wherein the second ECU activates, based on the second signal, one or more vehicle brake sets of the vehicle via the pressure-controlled electronic braking assembly.
2. 2 . The method of claim 1 , wherein providing the second signal to at least the second ECU comprises: providing the second signal to the second ECU; and providing a third signal to the third ECU, wherein the third ECU activates one or more vehicle brake sets of the vehicle based on the third signal.
3. 3 . The method of claim 2 , wherein providing the third signal to the third ECU comprises: providing the third signal to the third ECU in parallel with providing the second signal to the second ECU.
4. 4 . The method of claim 2 , wherein providing the third signal to the third ECU comprises: determining a speed of the vehicle remains unchanged for a threshold duration after providing the second signal to the second ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, providing the third signal to the third ECU.
5. 5 . The method of claim 1 , further comprising: receiving sensor data from a sensor coupled to the vehicle, wherein the sensor data represents an environment of the vehicle; and providing, based on the sensor data, the first signal to the first ECU.
6. 6 . The method of claim 1 , further comprising: receiving a response from the first ECU, wherein the response indicates the first ECU is unable to operate the pressure-controlled electronic braking assembly; and based on receiving the response from the first ECU, providing the second signal to the second ECU.
7. 7 . The method of claim 1 , further comprising: based on providing the second signal to at least the second ECU from the set of additional ECUs, providing an alert at a control interface of the vehicle, wherein the alert comprises at least an audio alert or visual alert indicating a malfunction associated with the first ECU.
8. 8 . The method of claim 1 , further comprising: determining a speed of the vehicle remains unchanged for a threshold duration after providing the second signal to at least the second ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, depowering a pair of solenoid valves, wherein depowering the pair of solenoid valves triggers an application of at least one brake set of the vehicle.
9. 9 . The method of claim 8 , wherein depowering the pair of solenoid valves triggers an application of a parking brake of the vehicle.
10. 10 . A system comprising: a vehicle having a vehicle brake system, wherein the vehicle brake system comprises: a pressure-controlled electronic braking assembly coupled to one or more vehicle brake sets, and a plurality of electronic control units (ECUs) communicably coupled to the pressure-controlled electronic braking assembly; and a computing system coupled to the vehicle, wherein the computing system is configured to: provide a first signal to a first ECU; determine a speed of the vehicle remains unchanged for a threshold duration after providing the first signal to the first ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, provide a second signal to at least a second ECU from the plurality of ECUs, wherein the plurality of ECUs includes at least the second ECU and a third ECU communicably coupled in parallel to the pressure-controlled electronic braking assembly, and wherein the second ECU activates, based on the second signal, one or more vehicle brake sets of the vehicle via the pressure-controlled electronic braking assembly.
11. 11 . The system of claim 10 , wherein the first ECU is coupled to a first power source, and wherein the second ECU and the third ECU are coupled to a second power source.
12. 12 . The system of claim 10 , wherein the first ECU is coupled to a first power source, wherein the second ECU is coupled to a second power source, and wherein the third ECU is coupled to a third power source.
13. 13 . The system of claim 10 , wherein the computing system is configured to: provide the second signal to the second ECU and a third signal to the third ECU, wherein the third ECU activates one or more vehicle brake sets of the vehicle based on the third signal.
14. 14 . The system of claim 10 , wherein the vehicle is a class 8 truck.
15. 15 . The system of claim 10 , wherein the computing system is further configured to: determine a speed of the vehicle remains unchanged for a threshold duration after providing the second signal to the second ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, provide a third signal to the third ECU.
16. 16 . The system of claim 10 , wherein the computing system is further configured to: determine a speed of the vehicle remains unchanged for a threshold duration after providing the second signal to the second ECU; based on determining the speed of the vehicle remains unchanged for the threshold duration, receive a failure indication from the second ECU; and based on the failure indication, provide a third signal to the third ECU and provide an alert at a control interface of the vehicle indicating a malfunction associated with the second ECU.
17. 17 . The system of claim 10 , wherein the computing system is further configured to: receive sensor data from a sensor coupled to the vehicle, wherein the sensor data represents an environment of the vehicle; and provide, based on the sensor data, the first signal to the first ECU.
18. 18 . The system of claim 10 , wherein the vehicle brake system further comprises a pair of solenoid valves, and wherein the computing system is further configured to: determine a speed of the vehicle remains unchanged for a threshold duration after providing the second signal to at least the second ECU; and based on determining the speed of the vehicle remains unchanged for the threshold duration, depower the pair of solenoid valves, wherein depowering the pair of solenoid valves triggers an application of a parking brake of the vehicle.
19. 19 . A method comprising: providing, from a pressurized fluid source, a pressurized fluid stream to a pressure-controlled electronic braking assembly of an autonomous vehicle, wherein the pressure-controlled electronic braking assembly is fluidly coupled to a vehicle brake set of the autonomous vehicle; providing sensor data from a vehicle sensor of the autonomous vehicle to a set of electronic control units (ECUs) communicably coupled to the pressure-controlled electronic braking assembly, wherein the set of ECUs includes a primary electronic control unit and a pair of additional ECUs, and wherein the pair of additional ECUs are communicably coupled in parallel to the pressure-controlled electronic braking assembly; based on the sensor data, controlling, by at least one ECU, the pressure-controlled electronic braking assembly to adjust a pressure of the pressurized fluid stream provided to the vehicle brake set of the autonomous vehicle; determining a speed of the vehicle remains unchanged for a threshold duration after controlling the pressure-controlled electronic braking assembly based on the sensor data; and based on determining the speed of the vehicle remains unchanged for the threshold duration, providing a second signal to at least one of the pair of additional ECUs to activate the vehicle brake set.

Description

CROSS REFERENCE TO RELATED APPLICATION The present application claims priority to U.S. Provisional Patent Application No. 63/477,076, filed Dec. 23, 2022, the entire contents is hereby incorporated by reference. BACKGROUND Advancements in computing, sensors, and other technologies have enabled vehicles to safely navigate between locations autonomously, i.e., without requiring input from a human driver. By processing sensor measurements of the surrounding environment in near real-time, an autonomous vehicle can safely transport passengers or objects (e.g., cargo) between locations while avoiding obstacles, obeying traffic requirements, and performing other actions that are typically conducted by the driver. Shifting both decision-making and control of the vehicle over to vehicle systems can allow the vehicle's passengers to devote their attention to tasks other than driving. SUMMARY Example embodiments relate to triple redundant brake systems and techniques for using such brake systems on semi-truck tractors, trucks, and other types of vehicles. An example triple redundant brake system can leverage multiple secondary electronic control units (ECUs) that are communicably coupled in parallel to control one or more brake assemblies. The arrangement of multiple ECUs establishes multiple, redundant brake configurations, which are then available for use by a driver or vehicle systems to slow and stop the vehicle in a safe and efficient manner. In some cases, the example brake system enables the application of brakes in a situation where a multi-point failure occurred impacting both the primary and secondary braking subsystems on the vehicle. Vehicle systems can use disclosed brake systems to efficiently brake during autonomous or semi-autonomous navigation. Accordingly, a first example embodiment describes a method. The method involves providing, by a computing system coupled to a vehicle, a first signal to a first electronic control unit (ECU). The first ECU is communicably coupled to a pressure-controlled electronic braking assembly. The method also involves providing, by the computing system, a second signal to at least a second ECU from a set of additional ECUs. The set of additional ECUs includes at least the second ECU and a third ECU communicably coupled in parallel to the pressure-controlled electronic braking assembly. The second ECU activates, based on the second signal, one or more vehicle brake sets of the vehicle via the pressure-controlled electronic braking assembly. Another example embodiment describes a system. The system includes a vehicle having a vehicle brake system. The vehicle brake system includes a pressure-controlled electronic braking assembly coupled to one or more vehicle brake sets, and a plurality of electronic control units (ECUs) communicably coupled to the pressure-controlled electronic braking assembly. The system also includes a computing system coupled to the vehicle. The computing system is configured to: provide a first signal to a first ECU, and provide a second signal to at least a second ECU from the plurality of ECUs. The plurality of ECUs includes at least the second ECU and a third ECU communicably coupled in parallel to the pressure-controlled electronic braking assembly. The second ECU activates, based on the second signal, one or more vehicle brake sets of the vehicle via the pressure-controlled electronic braking assembly. An additional example embodiment describes a method. The method involves providing, from a pressurized fluid source, a pressurized fluid stream to a pressure-controlled electronic braking assembly of an autonomous vehicle. The pressure-controlled electronic braking assembly is fluidly coupled to a vehicle brake set of the autonomous vehicle. The method also involves providing sensor data from a vehicle sensor of the autonomous vehicle to a set of electronic control units communicably coupled to the pressure-controlled electronic braking assembly. The set of electronic control units includes a primary electronic control unit and a pair of additional electronic control units, and the pair of additional electronic control units are communicably coupled in parallel to the pressure-controlled electronic braking assembly. The method also involves, based on the sensor data, controlling, by at least one of the electronic control units, the pressure-controlled electronic braking assembly to adjust a pressure of the pressurized fluid stream provided to the vehicle brake set. The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the figures and the following detailed description. BRIEF DESCRIPTION OF THE FIGURES FIG. 1 is a functional block diagram illustrating a vehicle, according to one or more example embodiments. FIG. 2 illustrates a vehicle configuration, a