BRAKE SYSTEM FOR TRACTOR-TRAILER
A brake system for an autonomous tractor-trailer includes a first brake valve configured to allow pressurized air to flow to first tractor brakes and trailer brakes, a second brake valve configured to allow pressurized air to flow to second tractor brakes, and a third brake valve configured to allow pressurized air to flow to the trailer brakes, wherein the third brake valve is configured to be actuated before the first brake valve and the second brake valve.
1 . A brake system for an autonomous tractor-trailer, the brake system comprising:
a first brake valve configured to allow pressurized air to flow to first tractor brakes and trailer brakes;
a second brake valve configured to allow pressurized air to flow to second tractor brakes; and
a third brake valve configured to allow pressurized air to flow to the trailer brakes, wherein the third brake valve is configured to be actuated before the first brake valve and the second brake valve.
2 . The brake system of claim 1 , further comprising a controller configured to actuate the first brake valve, the second brake valve, and the third brake valve.
3 . The brake system of claim 2 , wherein the controller is configured to control a timing of actuation of the third brake valve and a pressure of the air flow through the third brake valve to the trailer brakes.
4 . The brake system of claim 1 , further comprising a tractor protection valve configured to prevent passage of pressurized air to the trailer brakes when no trailer is coupled to the tractor.
5 . The brake system of claim 4 , wherein the third brake valve is downstream of the tractor protection valve.
6 . The brake system of claim 4 , wherein the third brake valve is upstream of the tractor protection valve.
7 . The brake system of claim 1 , further comprising a sensor system configured to detect a fault in the first brake valve, the second brake valve, and the third brake valve.
8 . The brake system of claim 7 , wherein the sensor system comprises at least three pressure sensors at each of the first brake valve, the second brake valve, and the third brake valve.
9 . The brake system of claim 7 , wherein the sensor system is configured to operate as a voting system to determine a pressure at the respective first brake valve, second brake valve, and third brake valve.
10 . The brake system of claim 1 , further comprising a treadle valve, wherein the treadle valve and the first brake valve are each configured to allow pressurized air to flow to the first tractor brakes.
11 . The brake system of claim 1 , further comprising a treadle valve, wherein the treadle valve and the second brake valve are each configured to allow pressurized air to flow to the second tractor brakes.
12 . The brake system of claim 1 , further comprising a treadle valve, wherein the treadle valve and the third brake valve are each configured to allow pressurized air to flow to the second tractor brakes.
13 . The brake system of claim 1 , further comprising a reservoir configured to supply pressure to the third brake valve; and a pressure line connected directly between the reservoir and the third brake valve such that the third brake valve is the only valve coupled to the pressure line.
14 . An autonomous tractor-trailer comprising:
a tractor;
a trailer coupled to the tractor; and
a brake system configured to stop the tractor and the trailer, the brake system comprising:
a first valve system configured to apply brakes to the tractor and the trailer; and
a second valve system configured to apply brakes to the trailer, wherein the second valve system is actuated prior to the first valve system.
15 . The autonomous tractor-trailer of claim 14 , wherein the first valve system comprises a first brake valve configured to allow pressurized air to flow to a first set of tractor brakes; a second brake valve configured to allow pressurized air to flow to a second set of tractor brakes; and a tractor protection valve configured to allow pressurized air to flow to flow to trailer brakes.
16 . The autonomous tractor-trailer of claim 15 , wherein the second valve system comprises a third brake valve on a dedicated pressure line separate from the first brake valve and the second brake valve.
17 . The autonomous tractor-trailer of claim 14 , further comprising a controller configured to actuate the first valve system and the second valve system, wherein the controller is configured to control a timing of actuation of the second valve system and a pressure of an air flow through the second valve system.
18 . The autonomous tractor-trailer of claim 14 , the first valve system further comprising a tractor protection valve configured to prevent passage of pressurized air to trailer brakes when no trailer is coupled to the tractor.
19 . The autonomous tractor-trailer of claim 18 , wherein the second valve system is downstream of the tractor protection valve.
20 . The autonomous tractor-trailer of claim 18 , wherein the second valve system is upstream of the tractor protection valve.
21 . The autonomous tractor-trailer of claim 14 , further comprising a sensor system configured to detect a fault in the first valve system and the second valve system.
22 . The autonomous tractor-trailer of claim 21 , wherein the sensor system comprises at least three pressure sensors at each of the first valve system and the second valve system.
23 . The autonomous tractor-trailer of claim 21 , wherein the sensor system is configured to operate as a voting system to determine a pressure at the respective first valve system and the second valve system.