System and method for implementing maximum braking pressure in tractor-trailers
A method and system for providing maximum trailer braking during a high pressure demand, such as during autonomous emergency braking (AEB), for tractor-trailers is provided. The system can include a brake controller of the trailer that uses only tractor anti-lock brake system (ABS) data from the tractor wheels, without using any trailer ABS information, to estimate the surface friction and generate a high or low pressure command to be sent to the trailer based on only the tractor ABS data. The estimation of surface friction may be accomplished using the ABS information from the tractor and the pressure being demanded to determine a percent reduction of pressure requested by the tractor that may be compared to a threshold percentage to differentiate between high and low mu surfaces in real time.
1 . A brake system in a tractor, the brake system comprising:
a brake controller configured to:
receive a deceleration demand from an automated system of the tractor;
determine a pressure demand for all wheel-ends of the tractor;
when the received deceleration demand is greater than or equal to a deceleration demand threshold or the determined pressure demand is greater than or equal to a predetermined pressure demand threshold:
determine a pressure applied at each wheel-end of the tractor;
calculate a pressure reduction percentage at each wheel-end of the tractor;
when a maximum calculated pressure reduction is less than a predetermined pressure reduction threshold:
generate a first control signal to cause delivery of high fluid pressure to wheel brakes of a trailer to the tractor; and
when the maximum calculated pressure reduction is greater than or equal to the predetermined pressure reduction threshold:
generate a second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor.
2 . The brake system of claim 1 , wherein the brake controller is further configured to determine the maximum calculated pressure reduction by:
calculating a pressure reduction percentage according to the relation: pressure reduction percentage=((deceleration demand−pressure applied)/pressure demand) at each tractor-wheel end, where pressure applied comprises an amount of pressure applied to a tractor wheel-end as a result of anti-lock braking system (ABS) operation in the tractor; and
selecting, as the maximum calculated pressure reduction, a highest pressure reduction percentage calculated for any of the tractor wheel-ends.
3 . The brake system of claim 1 , wherein the brake controller is further configured to:
when the received deceleration demand is less than the deceleration demand threshold or the determined pressure demand is less than the predetermined pressure demand threshold, generate the second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor.
4 . The brake system of claim 1 , wherein the brake controller is configured to transmit the generated control signal or the generated second control signal to a trailer with a pneumatic signal.
5 . The brake system of claim 1 , wherein the automated system of the tractor is an automated emergency braking (AEB) system.
6 . The brake system of claim 5 , wherein the brake controller is configured to, during a duration of the deceleration demand from the AEB system of the tractor, continuously determine the maximum calculated pressure reduction of the wheel-ends of the tractor and adjust between generation of the first control signal and the second control signal based on a current maximum calculated pressure demand.
7 . The brake system of claim 1 , wherein the predetermined pressure reduction threshold is 50%.
8 . A method for maximizing braking pressure in tractor-trailers comprising:
in a brake controller of a tractor:
receiving a deceleration demand from an automated system of the tractor;
determining a pressure demand for all wheel-ends of the tractor;
when the received deceleration demand is greater than or equal to a deceleration demand threshold or the determined pressure demand is greater than or equal to a predetermined pressure demand threshold:
determining a pressure applied at each wheel-end of the tractor;
calculating a pressure reduction percentage at each wheel-end of the tractor;
when a maximum calculated pressure reduction is less than a predetermined pressure reduction threshold:
generating a first control signal to cause delivery of high fluid pressure to wheel brakes of a trailer to the tractor; and
when the maximum calculated pressure reduction is greater than or equal to the predetermined pressure reduction threshold:
generating a second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor.
9 . The method of claim 8 , further comprising the brake controller:
determining the maximum calculated pressure reduction by calculating a pressure reduction percentage according to the relation: pressure reduction percentage=((deceleration demand−pressure applied)/pressure demand) at each tractor-wheel end, where pressure applied comprises an amount of pressure applied to a tractor wheel-end as a result of anti-lock braking system (ABS) operation in the tractor; and
selecting, as the maximum calculated pressure reduction, a highest pressure reduction percentage calculated for any of the tractor wheel-ends.
10 . The method of claim 8 , further comprising the brake controller:
generating the second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor when the received deceleration demand is less than the deceleration demand threshold or the determined pressure demand is greater than the predetermined pressure demand threshold.
11 . The method of claim 8 , further comprising the brake controller transmitting the generated control signal or the generated second control signal to a trailer with a pneumatic signal.
12 . The method of claim 8 , wherein receiving the deceleration demand from the automated system of the tractor comprises receiving the deceleration demand from an automated emergency braking (AEB) system.
13 . The method of claim 12 , further comprising the brake controller, during a duration of the deceleration demand from the AEB system of the tractor, continuously determining the maximum calculated pressure reduction of the wheel-ends of the tractor and adjusting between generation of the first control signal and the second control signal based on a current maximum calculated pressure demand.
14 . The method of claim 8 , wherein the predetermined pressure reduction threshold is 50%.
15 . A non-transitory computer readable storage medium comprising processor executable instructions for maximizing braking pressure in a tractor-trailer brake system, the processor executable instructions comprising instructions for causing a brake controller of a tractor to:
receive a deceleration demand from an automated system of the tractor;
determine a pressure demand for all wheel-ends of the tractor;
when the received deceleration demand is greater than or equal to a deceleration demand threshold or the determined pressure demand is greater than or equal to a predetermined pressure demand threshold:
determine a pressure applied at each wheel-end of the tractor;
calculate a pressure reduction percentage at each wheel-end of the tractor;
when a maximum calculated pressure reduction is less than a predetermined pressure reduction threshold:
generate a first control signal to cause delivery of high fluid pressure to wheel brakes of a trailer to the tractor; and
when the maximum calculated pressure reduction is greater than or equal to the predetermined pressure reduction threshold:
generate a second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor.
16 . The non-transitory computer readable storage medium of claim 15 , the processor executable instructions further comprising instructions for causing the brake controller of the tractor to determine the maximum calculated pressure reduction by:
calculating a pressure reduction percentage according to the relation: pressure reduction percentage=((deceleration demand−pressure applied)/pressure demand) at each tractor-wheel end, where pressure applied comprises an amount of pressure applied to a tractor wheel-end as a result of anti-lock braking system (ABS) operation in the tractor; and
selecting, as the maximum calculated pressure reduction, a highest pressure reduction percentage calculated for any of the tractor wheel-ends.
17 . The non-transitory computer readable storage medium of claim 15 , wherein the processor executable instructions further comprise instructions for causing the brake controller of the tractor to, when the received deceleration demand is less than the deceleration demand threshold or the determined pressure demand is greater than the predetermined pressure demand threshold, generate the second control signal to cause delivery of low fluid pressure to wheel brakes of the trailer to the tractor.
18 . The non-transitory computer readable storage medium of claim 15 , wherein the processor executable instructions further comprise instructions for causing the brake controller of the tractor to transmit the generated control signal or the generated second control signal to a trailer with a pneumatic signal.
19 . The non-transitory computer readable storage medium of claim 15 , wherein the processor executable instructions for causing the brake controller of the tractor to receiving the deceleration demand from the automated system of the tractor comprises instructions for receiving the deceleration demand from an automated emergency braking (AEB) system.
20 . The non-transitory computer readable storage medium of claim 19 , wherein the processor executable instructions further comprise instructions for causing the brake controller of the tractor to, during a duration of the deceleration demand from the AEB system of the tractor, continuously determine the maximum calculated pressure reduction of the wheel-ends of the tractor and adjust between generation of the first control signal and the second control signal based on a current maximum calculated pressure demand.