System and method for controlling braking functions in an autonomous vehicle

A controller that performs autonomous braking operations in response to control inputs and that senses when a human operator is handling the actuator to allow failover between an autonomously controlled braking system and a human controlled braking system in a truck having pneumatic brake lines comprising:

• an interface to a cab-mounted brake actuator arranged to be handled by the human operator and arranged to selectively deliver pressurized air to truck brakes and a trailer brake air supply;
• and
• an interface to a plurality of valves, interconnected in a pressure circuit that includes an emergency brake circuit and a service brake circuit, between a pressurized air source on the truck and the actuator, the truck brakes and the trailer brake air supply, responsive to the controller,
• wherein the interface is constructed and arranged to override selective delivery of pressurized air to the truck brakes and the trailer brake air supply by implementing a max function of pressure caused by the human operator handling the actuator and pressure of the selective delivery of pressurized air from an electro-pneumatic proportional valve to deliver pressurized air via the actuator,
• wherein the trailer brake air supply is constructed and arranged to deliver pressurized air from the pressure circuit to each of a trailer emergency brake through at least the emergency brake circuit and a trailer service brake through at least the service brake circuit, and
• wherein the controller is constructed and arranged to operate the valves so as to deliver pressurized air, based upon actuation of the service brake circuit, to the trailer emergency brake.