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公开(公告)号：US20210179052A1
公开(公告)日：2021-06-17
申请号：US16714906
申请日：2019-12-16
Applicant: Waymo LLC
Inventor： William Grossman , David James Smith
Abstract: Techniques for braking an autonomous vehicle include providing a pressurized fluid stream from a plurality of pressurized fluid sources to a plurality of pressure-controlled electronic braking assemblies; providing the pressurized fluid stream from a pressurized fluid control output of a first pressure-controlled electronic braking assembly directly to a pressurized fluid control input of a second pressure-controlled electronic braking assembly; providing the pressurized fluid stream from the second pressure-controlled electronic braking assembly to at least one vehicle brake set; providing sensor output data from one or more vehicle sensors to a plurality of electronic control units; and based at least in part on the sensor output data, controlling at least one of the first or second pressure-controlled electronic braking assemblies to adjust a pressure of the pressurized fluid stream from at least one of the first or second pressure-controlled electronic braking assemblies to the vehicle brake set.
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公开(公告)号：US20240208475A1
公开(公告)日：2024-06-27
申请号：US18539643
申请日：2023-12-14
Applicant: Waymo LLC
CPC classification number: B60T8/92 , B60T8/1708 , B60T8/323 , B60T8/885 , B60T13/68 , B60T17/22 , B60T2210/30 , B60T2250/04 , B60T2270/413
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.
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公开(公告)号：US11427175B2
公开(公告)日：2022-08-30
申请号：US16714906
申请日：2019-12-16
Applicant: Waymo LLC
Inventor： William Grossman , David James Smith
Abstract: Techniques for braking an autonomous vehicle include providing a pressurized fluid stream from a plurality of pressurized fluid sources to a plurality of pressure-controlled electronic braking assemblies; providing the pressurized fluid stream from a pressurized fluid control output of a first pressure-controlled electronic braking assembly directly to a pressurized fluid control input of a second pressure-controlled electronic braking assembly; providing the pressurized fluid stream from the second pressure-controlled electronic braking assembly to at least one vehicle brake set; providing sensor output data from one or more vehicle sensors to a plurality of electronic control units; and based at least in part on the sensor output data, controlling at least one of the first or second pressure-controlled electronic braking assemblies to adjust a pressure of the pressurized fluid stream from at least one of the first or second pressure-controlled electronic braking assemblies to the vehicle brake set.
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